CN114147814A - Full-automatic side-feeding computer saw with manipulator and control method thereof - Google Patents

Abstract

The invention discloses a full-automatic side-feeding computer saw with a manipulator and a control method thereof, wherein the computer saw comprises a rack, a control cabinet, a manipulator material taking device, a feeding device, a clamping and feeding device, a pressing device, a cutting device and a labeling device; the rack is provided with a feeding area, a processing area, a discharging area and a labeling area; the control cabinet is arranged on the rack; the manipulator material taking device is arranged on the rack and connected with the control cabinet, and the material feeding area, the processing area, the material discharging area and the labeling area are distributed around the manipulator material taking device; through being provided with manipulator extracting device to cooperation supplied materials district, processing district, ejection of compact district and subsides mark district arrange around manipulator extracting device, at the in-process that cuts, utilize manipulator extracting device to overturn and the adjustment of direction to the panel, the whole manual interference that need not has effectively improved production efficiency, and reduce the manpower and consume, be favorable to reducing the cost of labor.

Description

Full-automatic side-feeding computer saw with manipulator and control method thereof

Technical Field

The invention relates to the technical field of computer saws, in particular to a full-automatic side-feeding computer saw with a manipulator and a control method thereof.

Background

The computer saw is an automatic equipment for sawing sheet materials, it adopts the mode of pressing and fixing sheet materials, and the sawing machine can be run back and forth to saw and cut the laminated sheet materials, and said computer saw is applicable to longitudinal cutting and transverse cutting of various artificial boards, such as veneer shaving board, fibre board, plywood, solid wood board, plastic board and aluminium alloy, etc..

When the computer saw is cutting a large plate, the large plate is generally cut into a plurality of long-strip plates, and then the long-strip plates are cut into small plates, so that the plates need to be turned and the direction of the plates needs to be adjusted in the cutting process. Therefore, there is a need for an improved computer saw.

Disclosure of Invention

In view of the above, the present invention is directed to the defects in the prior art, and a main object of the present invention is to provide a full-automatic computer saw with a manipulator and a control method thereof, which can effectively solve the problems of low efficiency, manpower consumption and labor cost increase when the existing computer saw needs to turn over a plate and adjust the direction thereof manually.

In order to achieve the purpose, the invention adopts the following technical scheme:

a full-automatic side-feeding computer saw with a manipulator comprises a rack, a control cabinet, a manipulator material taking device, a feeding device, a clamping and feeding device, a pressing device, a cutting device and a labeling device; the rack is provided with a feeding area, a processing area, a discharging area and a labeling area; the control cabinet is arranged on the rack; the manipulator material taking device is arranged on the rack and connected with the control cabinet, and the material feeding area, the processing area, the material discharging area and the labeling area are distributed around the manipulator material taking device; the feeding device is arranged in the feeding area and is connected with the control cabinet; the clamping and feeding device is arranged in the processing area and is connected with the control cabinet; the pressing device and the cutting device are both arranged between the processing area and the discharging area, the cutting device is positioned below the pressing device, and the cutting device and the pressing device are both connected with the control cabinet; the labeling device is arranged in the labeling area and is connected with the control cabinet; the feeding area is positioned on the left side of the processing area, the discharging area is positioned on the front side of the processing area, the labeling area is positioned on the left side of the discharging area, and the manipulator material taking device is positioned between the feeding area and the labeling area; the clamping and feeding device comprises a support frame, a lifting frame, a driving assembly and a plurality of clamping mechanisms; the support frame is arranged on the frame and spans the processing area, the lifting frame can be arranged on the support frame up and down, and a guide piece is fixed on the lifting frame; the driving assembly is arranged on the supporting frame and comprises a movable plate and a first driving mechanism for driving the movable plate to horizontally move back and forth, a guide groove extending obliquely up and down is formed in the movable plate, and the guide piece is embedded in the guide groove and moves up and down along the guide groove; the plurality of clamp mechanisms are transversely arranged on the lifting frame side by side at intervals.

As a preferred scheme, the first driving mechanism is an air cylinder, the air cylinder is fixed on the support frame, piston rods extend outwards from two ends of the air cylinder, the two movable plates are respectively fixed at the tail ends of the two piston rods, correspondingly, the two ends of the lifting frame are respectively provided with the guide pieces, and the two guide pieces are respectively embedded in the guide grooves of the corresponding movable plates.

As a preferred scheme, a rotating shaft and a motor are arranged on the supporting frame, two ends of the rotating shaft respectively extend out of two ends of the supporting frame and are fixed with gears, the gears are meshed with racks on the rack, and the motor is fixed on the supporting frame and drives the rotating shaft to rotate back and forth.

As a preferred scheme, a waste conveying device is arranged on the output side of the processing area, and comprises a feeding frame, a movable seat, a second driving mechanism, a swing arm and a material pushing frame; the feeding frame is provided with a containing groove; the movable seat can be movably arranged in the containing groove back and forth; the second driving mechanism is arranged on the feeding frame and drives the movable seat to move back and forth, and the second driving mechanism does not protrude out of the top surface of the feeding frame; the rear end of the swing arm is hinged with the movable seat, the swing arm is positioned in the accommodating groove, and the front end of the swing arm can be arranged in a way of being lifted or sinking relative to the feeding frame; the material pushing frame is fixedly connected with the front end of the swing arm and protrudes or sinks from the top surface of the material feeding frame along with the lifting or sinking of the swing arm.

As an optimal scheme, a plurality of idler wheels convenient for sliding and conveying of the plates are arranged on the feeding frame, the movable seat and the second driving mechanism do not protrude out of the top surfaces of the idler wheels, a plurality of abdicating grooves matched with the idler wheels are formed in the material pushing frame, when the swing arm moves forwards, the front end of the swing arm is lifted up to enable the material pushing frame to protrude out of the top surfaces of the idler wheels, and when the swing arm moves backwards, the front end of the swing arm sinks to enable the material pushing frame to sink below the top surfaces of the idler wheels.

As a preferable scheme, a guide rail is arranged in the accommodating groove, and a pulley is arranged on the swing arm and moves back and forth along the guide rail to promote the front end of the swing arm to lift up or sink down.

As a preferred scheme, the movable seats are arranged in a left-right mode, the second driving mechanism drives the two movable seats to synchronously move back and forth, the swing arms are arranged in a left-right mode, the rear ends of the two swing arms are hinged to the two movable seats respectively, and the front ends of the two swing arms are fixedly connected with the left end and the right end of the material pushing frame respectively.

As a preferred scheme, the second driving mechanism comprises two transmission chains and a motor, the two transmission chains are arranged from left to right and extend forwards and backwards, the two transmission chains are fixedly connected with the two movable seats respectively, the front end and the rear end of each transmission chain are installed on the feeding frame through a front chain wheel and a rear chain wheel respectively, a transmission shaft is connected between the two rear chain wheels, and the motor is fixed on the feeding frame and drives one of the front chain wheels to rotate back and forth.

A control method of a full-automatic side-feeding computer saw with a manipulator comprises the following steps:

firstly, a feeding device conveys a plate from a feeding area to a processing area, the manipulator material taking device adjusts the direction of the plate in the processing area, when the plate is different, the manipulator material taking device adjusts the direction of the plate, and the manipulator material taking device is provided with vision correction for correcting the plate error so as to accurately process the plate; then, the workpiece clamping and feeding device clamps the plate and conveys the plate to a position between the material pressing device and the cutting device; then, the pressing device compresses tightly panel, then, this cutting device cuts panel, panel after cutting is carried to the ejection of compact district, this manipulator extracting device overturns panel, selects finished product and non-finished product simultaneously, when cutting out is the finished product, manipulator extracting device sends the finished product into and pastes the mark district, again by pasting the mark device and labelling the finished product, when the panel of processing out is non-finished product, this manipulator extracting device automatic identification upset, the error compensation is taken to the vision, send into the pan feeding mouth again, by big panel cutting into little panel, arrive required panel again.

Compared with the prior art, the invention has obvious advantages and beneficial effects, and specifically, the technical scheme includes that:

the mechanical arm material taking device is arranged, the material taking region, the processing region, the discharging region and the labeling region are matched to be arranged around the mechanical arm material taking device, in the cutting process, the mechanical arm material taking device can be used for overturning the plates and adjusting the direction of the plates, manual interference is not required, the production efficiency is effectively improved, manpower consumption is reduced, and labor cost reduction is facilitated.

The second driving mechanism drives the movable plate to move horizontally, so that the guide piece moves in the guide groove, the lifting frame ascends and descends, the clamp mechanism ascends and descends along with the lifting frame, the structure is simple, the stability is good, the clamp mechanism can ascend and descend stably, and convenience is brought to production operation.

Third, drive the sliding seat through utilizing second actuating mechanism for the swing arm drives and pushes away the work or material rest and lifts up forward or sink backward, and when lifting up forward, the work or material rest can release the corner waste material on the workstation, and when sinking backward, the work or material rest and swing arm can not cause the influence to the feeding of plate, thereby realize the automation and push away the waste material, bring the facility for the production operation, have effectively improved production efficiency, have also avoided the artifical manual potential safety hazard that pushes away the waste material and bring simultaneously.

To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Drawings

FIG. 1 is a perspective view of a preferred embodiment of the present invention;

FIG. 2 is a perspective view of another angle of the preferred embodiment of the present invention;

FIG. 3 is a perspective view of another embodiment of the present invention;

FIG. 4 is a perspective view of another angle of the preferred embodiment of the present invention;

FIG. 5 is an enlarged view of the feeding device of the clamping apparatus in the preferred embodiment of the present invention;

FIG. 6 is an enlarged view of the feeding device of the clamping apparatus according to the preferred embodiment of the present invention;

FIG. 7 is an enlarged view of the feeding device of the clamping apparatus in the preferred embodiment of the present invention;

FIG. 8 is an enlarged view of the waste conveyor of the preferred embodiment of the present invention;

FIG. 9 is a general schematic diagram of the control system in the preferred embodiment of the invention;

FIG. 10 is a general detailed schematic diagram of the control system in accordance with the preferred embodiment of the present invention;

FIG. 11 is a partial detailed schematic view of the control system in accordance with the preferred embodiment of the present invention;

FIG. 12 is another partial detailed schematic view of the control system in accordance with the preferred embodiment of the present invention;

FIG. 13 is a schematic diagram of a first workflow in accordance with the preferred embodiment of the present invention;

FIG. 14 is a second flowchart of the preferred embodiment of the present invention;

FIG. 15 is a third flowchart of the preferred embodiment of the present invention;

FIG. 16 is a fourth exemplary flowchart illustrating the operation of the present invention.

The attached drawings indicate the following:

10. frame 11, incoming material area

12. Processing zone 13, discharge zone

14. Labeling area 20 and control cabinet

30. Manipulator extracting device 40, loading attachment

50. Worker presss from both sides material feeding unit 51, support frame

511. Slide rail 52 and lifting frame

521. Guide 53, drive assembly

531. Movable plate 532 and first driving mechanism

533. Piston rod 54 and clamp mechanism

55. Rotating shaft 56 and motor

57. Gear 501, guide groove

60. Pressing device 70 and cutting device

80. Labeling device 90 and waste conveying device

91. Feeding frame 911, gyro wheel

912. Guide rail 901 and accommodating groove

92. Movable seat 93 and second driving mechanism

931. Transmission chain 932 and motor

933. Front chain wheel 934, rear chain wheel

935. Transmission shaft 94 and swing arm

941. Pulley 95, material pushing frame

951. A yielding groove 101 and a plate.

Detailed Description

Referring to fig. 1 to 8, a specific structure of a full-automatic computer saw with a robot for side feeding according to a preferred embodiment of the present invention is shown, which includes a frame 10, a control cabinet 20, a robot material-taking device 30, a feeding device 40, a clamping material-sending device 50, a material-pressing device 60, a cutting device 70, and a labeling device 80.

The frame 10 is provided with a feeding area 11, a processing area 12, a discharging area 13 and a labeling area 14; the control cabinet 20 is arranged on the frame 10; the manipulator material taking device 30 is arranged on the rack 10 and connected with the control cabinet 20, and the feeding area 11, the processing area 12, the discharging area 13 and the labeling area 14 are distributed around the manipulator material taking device 30; in this embodiment, the feeding area 11 is located at the left side of the processing area 12, the discharging area 13 is located at the front side of the processing area 12, the labeling area 14 is located at the left side of the discharging area 13, and the robot extracting device 30 is located between the feeding area 11 and the labeling area 14.

The feeding device 40 is disposed in the feeding area 11 and connected to the control cabinet 20, and the feeding device 40 is used for feeding and conveying the plates 101.

The workpiece clamping and feeding device 50 is arranged in the processing area 12 and connected with the control cabinet 20, and the workpiece clamping and feeding device 50 is used for clamping a workpiece (namely a plate 101) for conveying. Specifically, the material conveying device 50 includes a support frame 51, a lifting frame 52, a driving assembly 53 and a plurality of clamping mechanisms 54.

The supporting frame 51 is arranged on the machine frame 10 and crosses the processing area 12, the lifting frame 52 can be arranged on the supporting frame 51 up and down, and a guide piece 521 is fixed on the lifting frame 52; in this embodiment, the supporting frame 51 is provided with a sliding rail 511, the sliding rail 511 extends vertically, the rear side of the lifting frame 52 is slidably mounted on the sliding rail 511 to move up and down along the sliding rail 511, and the guiding member 521 is a roller.

The driving assembly 53 is disposed on the supporting frame 51, the driving assembly 53 includes a movable plate 531 and a first driving mechanism 532 for driving the movable plate 531 to move horizontally back and forth, the movable plate 531 is provided with a guiding slot 501 extending obliquely up and down, and the guiding element 521 is embedded in the guiding slot 501 and moves up and down along the guiding slot 501; in this embodiment, the first driving mechanism 532 is an air cylinder fixed on the supporting frame 51, two ends of the air cylinder are respectively extended with a piston rod 533, two movable plates 531 are respectively fixed at the tail ends of the two piston rods 533, correspondingly, two ends of the lifting frame 52 are respectively provided with the aforementioned guiding element 521, and the two guiding elements 521 are respectively embedded in the guiding grooves 501 of the corresponding movable plates.

The plurality of clamping mechanisms 54 are transversely arranged on the lifting frame 52 side by side at intervals, the plurality of clamping mechanisms 54 are used for clamping and fixing the plates in a matching way, the specific structure and the working principle of the clamping mechanisms 54 are the prior art, and the specific structure and the working principle of the clamping mechanisms 54 are not described in detail herein.

And, be provided with pivot 55 and motor 56 on the support frame 51, the both ends of this pivot 55 stretch out the both ends of support frame 51 respectively and are fixed with gear 57, this motor 56 is fixed in on support frame 51 and drive pivot 55 round trip to rotate, this support frame 51 slidable mounting is in frame 10, installs rack (not shown) on the frame 10, the rack meshes with gear 57, drives pivot 55 through motor 56 and rotates for gear 57 rotates, thereby makes support frame 51 activity.

The working principle of the clamping and feeding device 50 is as follows: when the plurality of clamping mechanisms 54 are required to clamp the plate 101, firstly, the first driving mechanism 532 drives the movable plate 531 to move horizontally, the lifting frame 52 descends under the guiding of the guiding piece 521 and the guiding groove 501, the plurality of clamping mechanisms 54 descend along with the lifting frame 42, and then the plurality of clamping mechanisms 54 can be used for clamping the plate 101. After the plate 101 is clamped, the first driving mechanism 532 drives the movable plate 531 to move horizontally in the opposite direction, the lifting frame 52 ascends under the guiding of the guiding piece 521 and the guiding groove 501, the plurality of clamping mechanisms 54 ascend along with the lifting frame 52, so that the plate 101 is lifted, and at the moment, the whole device can move integrally, and the plate 101 can be pushed.

The pressing device 60 and the cutting device 70 are both arranged between the processing area 12 and the discharging area 13, the cutting device 70 is positioned below the pressing device 60, and the cutting device 70 and the pressing device 60 are both connected with the control cabinet 20; the labeling device 80 is disposed in the labeling area 14 and connected to the control cabinet 20.

And a waste conveying device 90 is arranged on the output side of the processing area 12, and the waste conveying device 90 comprises a feeding frame 91, a movable seat 92, a second driving mechanism 93, a swing arm 94 and a pushing frame 95.

The feeding frame 91 is provided with a containing groove 901; in this embodiment, the feeding frame 91 is provided with a plurality of rollers 911 for facilitating sliding transportation of the sheet material, the accommodating grooves 901 are two arranged in the left and right direction, and each accommodating groove 901 extends in the front and back direction.

The movable seat 92 is movably disposed in the accommodating groove 901 back and forth; the second driving mechanism 93 is arranged on the feeding frame 91 and drives the movable seat 92 to move back and forth, and the second driving mechanism 93 does not protrude out of the top surface of the feeding frame 91; in this embodiment, neither the movable seat 92 nor the second driving mechanism 93 protrudes the top surface of the roller 911, the movable seat 92 is two that are set up from left to right, it is located in the corresponding accommodating groove 901 respectively, the second driving mechanism 93 drives the synchronous front and back movement of the two movable seats 92, the second driving mechanism 93 includes two transmission chains 931 and a motor 932, the two transmission chains 931 are arranged from left to right and extend from front to back, the two transmission chains 931 are fixedly connected with the two movable seats 92 respectively, the front and back ends of each transmission chain 931 are installed on the feeding frame 91 through the front chain wheel 933 and the back chain wheel 934 respectively, the transmission shaft 935 is connected between the two back chain wheels 934, and the motor 932 is fixed on the feeding frame 91 and drives one of the front chain wheels 933 to rotate back and forth.

The rear end of the swing arm 94 is hinged with the movable seat 92, the swing arm 94 is positioned in the accommodating groove 901, and the front end of the swing arm 94 is arranged in a manner of being capable of being lifted or sinking relative to the feeding frame 91; the material pushing frame 95 is fixedly connected with the front end of the swing arm 94 and protrudes or sinks from the top surface of the material feeding frame 91 along with the lifting or sinking of the swing arm 94. In this embodiment, a guide rail 912 is disposed in the accommodating groove 901, a pulley 941 is disposed on the swing arm 94, and the pulley 941 moves back and forth along the guide rail 912 to lift or sink the front end of the swing arm 94; the material pushing frame 95 is provided with a plurality of abdicating grooves 951 matched with the rollers 911, when the swing arm 94 moves forwards, the front end of the swing arm 94 is lifted to enable the material pushing frame 95 to protrude out of the top surface of the rollers 911, and when the swing arm 94 moves backwards, the front end of the swing arm 94 sinks to enable the material pushing frame 95 to sink below the top surface of the rollers 911; and the two swing arms 94 are arranged left and right, the rear ends of the two swing arms 94 are respectively hinged with the two movable seats 92, and the front ends of the two swing arms 94 are respectively fixedly connected with the left end and the right end of the material pushing frame 95, so that the material pushing frame 95 can be lifted and sink more stably and reliably.

The working principle of the waste conveying device 90 is as follows: in use, a waste collection tank is provided at the front side of the output side of the processing zone 12; after cutting device 70 saw cuts panel 101 between processing district 12 and ejection of compact district 13, left the corner waste material, at this moment, this device begins to work, drives movable seat 92 forward activity by second actuating mechanism 93, and this swing arm 94 moves forward, and under the cooperation guide of pulley 941 and guide rail 912, the front end of this swing arm 94 lifts up for push away the top surface of work or material rest 95 protrusion feeding frame 91 and move forward, along with the forward activity of push away work or material rest 95, push away work or material rest 95 with the corner waste material forward and push away to the garbage collection groove in. Then, the second driving mechanism 93 drives the movable seat 92 to move backward, the swing arm 94 moves backward, and simultaneously, under the guiding of the pulley 941 and the guide rail 912, the front end of the swing arm 94 sinks, so that the material pushing frame 95 moves backward away from the workbench, and when the movement is in place, the material pushing frame 95 sinks into the top surface of the feeding frame 91, so as to perform the subsequent feeding and cutting on the sheet material 101.

The invention also discloses a control system of the full-automatic side-feeding computer saw with the manipulator, which comprises a programmable controller, a data bus connected with the programmable controller, a feeding device control unit, a front trimming device control unit, a pressing device control unit and a cutting device control unit, wherein the feeding device control unit, the front trimming device control unit, the pressing device control unit and the cutting device control unit are bidirectionally controlled and connected to the data bus in parallel; the method is characterized in that: the manipulator feeding device control unit is connected with the manipulator feeding device control unit and the labeling device control unit in parallel; the control system also comprises a man-machine exchange control unit, the man-machine exchange control unit is connected with the programmable controller through Ethernet communication, and the man-machine exchange control unit comprises an industrial personal computer, a mouse connected with the industrial personal computer, a keyboard and a factory local area network.

The control unit of the clamping and feeding device comprises a control unit of a clamping and feeding mechanism, a first clamping device control unit and a second clamping device control unit, wherein the control unit of the clamping and feeding mechanism is controlled bidirectionally and connected to a data bus in parallel.

The control unit of the clamping feed mechanism comprises a 17 th I/O module which is in bidirectional control and parallel connection with a data bus, a 2 nd main clamping servo driver which is in bidirectional control and series connection with the 17 th I/O module, a 2 nd main clamping servo motor which is in bidirectional control and series connection with the 2 nd main clamping servo driver, and an electronic ruler reading head which is in bidirectional control and series connection with the 2 nd main clamping servo driver.

The first clamp device control unit comprises two turnover mechanism control units and a plurality of first clamp clamping mechanism clamping control units.

The turnover mechanism control unit comprises an 18 th I/O module connected with the data bus in a bidirectional control and parallel mode, a 9 th electromagnetic valve connected with the 18 th I/O module in a unidirectional control and series mode, a turnover cylinder connected with the 9 th electromagnetic valve in a unidirectional control and series mode and two 7 th inductive switches installed on the turnover cylinder, wherein the two 7 th inductive switches are connected with the 18 th I/O module in a bidirectional control and parallel mode; the 18 th I/O module controls the 9 th electromagnetic valve in a one-way mode, and the 9 th electromagnetic valve controls the turnover cylinder in a one-way mode.

The first clamp clamping mechanism control unit comprises a 19 th I/O module, a 10 th electromagnetic valve and a first clamping cylinder, wherein the 19 th I/O module is connected with the data bus in a bidirectional control and parallel mode, the 10 th electromagnetic valve is connected with the 19 th I/O module in a unidirectional control and serial mode, and the first clamping cylinder is connected with the 10 th electromagnetic valve in a unidirectional control and serial mode; the 19 th I/O module unidirectionally controls the 10 th solenoid valve, and the 10 th solenoid valve unidirectionally controls the first clamping cylinder.

The second clamp device control unit comprises a plurality of second clamp mechanism clamping control units which are connected with the data bus in a bidirectional control and parallel mode; each second clamp mechanism clamping control unit comprises a movable turnover mechanism control unit and a second clamp clamping mechanism control unit.

The control unit of the mobile turnover mechanism comprises a 20 th I/O module which is connected with the data bus in a bidirectional control and parallel manner, an 11 th electromagnetic valve which is connected with the 20 th I/O module in a unidirectional control and series manner, a mobile turnover cylinder which is connected with the 11 th electromagnetic valve in a unidirectional control and series manner, and two 8 th inductive switches which are arranged on the mobile turnover cylinder, wherein the two 8 th inductive switches are connected with the 20 th I/O module in a bidirectional control and parallel manner; the 20 th I/O module controls the 11 th electromagnetic valve in a one-way mode, and the 11 th electromagnetic valve controls the movable overturning cylinder in a one-way mode.

The second clamp clamping mechanism control unit comprises a 21 st I/O module, a 12 th electromagnetic valve and a second clamping cylinder, wherein the 21 st I/O module is connected with the data bus in a bidirectional control and parallel mode, the 12 th electromagnetic valve is connected with the 21 st I/O module in a unidirectional control and serial mode, and the second clamping cylinder is connected with the 12 th electromagnetic valve in a unidirectional control and serial mode; the 21 st I/O module controls the 12 th electromagnetic valve in a one-way mode, and the 12 th electromagnetic valve controls the second clamping cylinder in a one-way mode.

The manipulator taking device control unit comprises a manipulator controller which is in bidirectional control and parallel connection with a data bus.

The control unit of the labeling device comprises a labeling servo driver which is connected with the data bus in a bidirectional control and parallel mode and a labeling servo motor which is connected with the labeling servo driver in a bidirectional control and serial mode.

The cutting device control unit comprises a material pushing control unit, a cutting device lifting control unit, a main saw driving control unit, an auxiliary saw driving control unit, a plate width detection device control unit and a saw vehicle driving control unit which are connected with the data bus in a bidirectional control and parallel mode.

The material pushing control unit comprises a 25 th I/O module connected with the data bus in a bidirectional control and parallel mode, a 9 th contactor connected with the 25 th I/O module in a unidirectional control and series mode, and a material pushing motor connected with the 9 th contactor in a bidirectional control and series mode; the 25 th I/O module controls the 9 th contactor in a one-way mode, and the 9 th contactor controls the material pushing motor in a two-way mode.

The cutting device lifting control unit comprises a 26 th I/O module which is connected with the data bus in a bidirectional control mode in parallel, a 15 th electromagnetic valve which is connected with the 26 th I/O module in a unidirectional control mode in series, a 7 th air cylinder which is connected with the 15 th contactor in series but is controlled in series, and two 11 th inductive switches which are installed on the 7 th air cylinder, wherein the two 11 th inductive switches are connected with the 26 th I/O module in a bidirectional control mode after being connected in parallel; the 26 th I/O module controls the 15 th electromagnetic valve in a one-way mode, and the 15 th electromagnetic valve controls the 7 th air cylinder in a one-way mode.

The main saw driving control unit comprises a 27 th I/O module connected with the data bus in a bidirectional control mode in parallel, a 10 th contactor connected with the 27 th I/O module in a unidirectional control mode in series, and a second main saw motor connected with the 10 th contactor in a bidirectional control mode in series; the 27 th I/O module unidirectionally controls the 10 th contactor, and the 10 th contactor bidirectionally controls the second main saw motor.

The auxiliary saw driving control unit comprises a 28 th I/O module connected with the data bus in a bidirectional control mode in parallel, an 11 th contactor connected with the 28 th I/O module in a unidirectional control mode in series, and a second auxiliary saw motor connected with the 11 th contactor in a bidirectional control mode in series; the 28 th I/O module controls the 11 th contactor in a single direction, and the 10 th contactor controls the second auxiliary saw motor in a double direction.

The control unit of the board width detection device comprises a 29 th I/O module, a 16 th electromagnetic valve, a 2 nd photoelectric switch and a second air nozzle, wherein the 29 th I/O module is connected with the data bus in parallel in a bidirectional control mode, the 16 th electromagnetic valve and the 2 nd photoelectric switch are connected with the 29 th I/O module in a unidirectional control mode in series, the 16 th electromagnetic valve and the 2 nd photoelectric switch are connected with the 16 th electromagnetic valve in a unidirectional control mode in series, and the 16 th electromagnetic valve controls the second air nozzle in a unidirectional control mode.

The saw vehicle driving control unit comprises a saw seat servo driver connected with the data bus bidirectional control in parallel and a saw seat servo motor connected with the saw seat servo driver in bidirectional control series, and the saw seat servo driver controls the saw seat servo motor in bidirectional control.

The pressing device control unit comprises two pressing device lifting control units.

The material pressing device lifting control unit comprises a 22 nd I/O module, a 13 th electromagnetic valve, a 5 th air cylinder and a 9 th inductive switch, wherein the 22 th I/O module is connected with the data bus in parallel in a bidirectional control mode, the 13 th electromagnetic valve is connected with the 22 th I/O module in series in a unidirectional control mode, the 5 th air cylinder is connected with the 13 th electromagnetic valve in series in a unidirectional control mode, the 9 th inductive switch is installed on the 2 nd air cylinder, and the 9 th inductive switch is connected with the 22 th I/O module in series in a bidirectional control mode; the 22 nd I/O module controls the 13 th electromagnetic valve in a one-way mode, and the 13 th electromagnetic valve controls the 5 th air cylinder in a one-way mode.

The device also comprises a control unit of a side aligning plate device which is bidirectionally controlled and connected to the data bus in parallel; the control unit of the side plate aligning device comprises a lifting control unit of the two side plate aligning devices and a moving control unit of the one side plate aligning device.

The lifting control unit of the side aligning plate device comprises a 23 rd I/O module, a 14 th electromagnetic valve, a 6 th air cylinder and two 10 th inductive switches, wherein the 23 th I/O module is connected with the data bus in a bidirectional control and parallel mode, the 14 th electromagnetic valve is connected with the 23 th I/O module in a unidirectional control and series mode, the 6 th air cylinder is connected with the 14 th electromagnetic valve in a unidirectional control and series mode, the two 10 th inductive switches are installed on the 6 th air cylinder, and the two 10 th inductive switches are connected with the 23 th I/O module in a bidirectional control and parallel mode; the 23 th I/O module controls the 14 th electromagnetic valve in a one-way mode, and the 14 th electromagnetic valve controls the 6 th air cylinder in a one-way mode.

The side aligning device movement control unit comprises a 24 th I/O module which is connected with the data bus in a bidirectional control and parallel mode, an 8 th contactor which is connected with the 24 th I/O module in a unidirectional control and serial mode, and a side aligning plate feeding servo motor which is connected with the 8 th contactor in a bidirectional control and serial mode; the 24 th I/O module controls the 8 th contactor in a one-way mode, and the 8 th contactor controls the side aligning plate feeding servo motor in a two-way mode.

The front flush plate device control unit comprises an 8 th I/O module connected with the data bus in a bidirectional control and parallel mode, a 4 th electromagnetic valve connected with the 8 th I/O module in a unidirectional control and series mode, a 1 st air cylinder connected with the 4 th electromagnetic valve in a unidirectional control and series mode and two 3 rd inductive switches installed on the 1 st air cylinder, wherein the two 3 rd inductive switches are connected with the 8 th I/O module in a bidirectional control and parallel mode; the 8 th I/O module controls the 4 th electromagnetic valve in a one-way mode, and the 4 th electromagnetic valve controls the 1 st cylinder in a one-way mode.

A 1I/O module connected with the loading device control unit in parallel with the data bus bidirectional control, a 1 st thermal relay connected with the 1 st I/O module in series with the bidirectional control, a 1 st contactor connected with the 1 st thermal relay in series with the unidirectional control, a feeding area motor connected with the 1 st contactor in series with the unidirectional control, a 2 nd I/O module connected with the data bus bidirectional control in parallel, a 2 nd thermal relay connected with the 2 nd I/O module in series with the bidirectional control, a 2 nd contactor connected with the 2 nd thermal relay in series with the unidirectional control, a processing area motor connected with the 2 nd contactor in series with the unidirectional control, a 3 rd I/O module connected with the data bus bidirectional control in parallel, a 3 rd thermal relay connected with the 3 rd I/O module in series with the bidirectional control, a 3 rd contactor connected with the 3 rd thermal relay in series with the unidirectional control, And the labeling area motor is connected with the 3 rd contactor in a unidirectional control series connection mode.

The device also comprises a control unit of a side backup plate device which is bidirectionally controlled and connected to the data bus in parallel; the side backup plate device control unit comprises a 9 th I/O module connected with the data bus in a bidirectional control and parallel mode, a 5 th electromagnetic valve connected with the 9 th I/O module in a unidirectional control and series mode, a 2 nd air cylinder connected with the 5 th electromagnetic valve in a unidirectional control and series mode and two 4 th inductive switches installed on the 2 nd air cylinder, wherein the two 4 th inductive switches are connected with the 9 th I/O module in a bidirectional control and parallel mode; the 9 th I/O module controls the 5 th electromagnetic valve in a one-way mode, and the 5 th electromagnetic valve controls the 2 nd cylinder in a one-way mode.

The device also comprises a waste conveying device control unit which is bidirectionally controlled and connected to the data bus in parallel.

The invention also discloses a control method of the full-automatic side-feeding computer saw with the manipulator, and the control system of the full-automatic side-feeding computer saw with the manipulator comprises the following steps:

firstly, the feeding device 40 conveys the plate 10 from the material receiving area 11 to the processing area 12, in the processing area 12, the manipulator material taking device 30 can adjust the direction of the plate 101, when the plate 101 is different, the manipulator material taking device 30 can adjust the direction of the plate 101, the manipulator material taking device 30 has visual correction, and the plate error can be corrected, so that the plate 101 can be accurately processed; then, the clamping and feeding device 50 clamps the plate 101 and conveys the plate to a position between the pressing device 60 and the cutting device 70; then, the pressing device 60 compresses the board 101, then, the cutting device 70 cuts the board 101, the cut board 101 is conveyed to the discharging area 13, the mechanical arm material taking device 30 can turn over the board 101 and select a finished product and a non-finished product, when the cut board is the finished product, the mechanical arm material taking device 30 sends the finished product to the labeling area 14, the labeling device 80 labels the finished product, when the processed board is the non-finished product (which needs to be processed), the mechanical arm material taking device 30 automatically identifies and turns over, the visual shooting is carried out for error compensation, the processed board is sent to the feeding port again, the large board is cut into small boards, the required boards are sent to the board, and manual interference in the whole process is not needed. The specific workflow is shown in fig. 14 to 16.

The design of the invention is characterized in that: firstly, through being provided with manipulator extracting device to cooperation supplied materials district, processing district, ejection of compact district and subsides mark district are arranged around manipulator extracting device, at the in-process that cuts, utilize manipulator extracting device can overturn and the adjustment of direction to the panel, and the whole name need not artificial interference, has effectively improved production efficiency, and reduces the manpower and expends, is favorable to reducing the cost of labor. Secondly, through utilizing first actuating mechanism to drive the activity of fly leaf level for the guide spare moves about in the guide slot, thereby makes the crane oscilaltion, and the clamp mechanism goes up and down along with the crane, simple structure, stability is good, and the clamp mechanism can steadily go up and down, offers convenience for the production operation. Moreover, through utilizing second actuating mechanism to drive the sliding seat for the swing arm drives and pushes away the work or material rest and lifts up forward or sinks backward, and when lifting up forward, the work or material rest can release the corner waste material on the workstation, and when sinking backward, the work or material rest and swing arm can not cause the influence to the feeding of plate, thereby realizes the automation and pushes away the waste material, offers convenience for the production operation, has effectively improved production efficiency, has also avoided the artifical manual potential safety hazard that pushes away the waste material and bring simultaneously.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.

Claims (9)

1. The utility model provides a take full-automatic side material loading computer saw of manipulator which characterized in that: comprises a frame, a control cabinet, a manipulator material taking device, a feeding device, a clamping and feeding device, a pressing device, a cutting device and a labeling device; the rack is provided with a feeding area, a processing area, a discharging area and a labeling area; the control cabinet is arranged on the rack; the manipulator material taking device is arranged on the rack and connected with the control cabinet, and the material feeding area, the processing area, the material discharging area and the labeling area are distributed around the manipulator material taking device; the feeding device is arranged in the feeding area and is connected with the control cabinet; the clamping and feeding device is arranged in the processing area and is connected with the control cabinet; the pressing device and the cutting device are both arranged between the processing area and the discharging area, the cutting device is positioned below the pressing device, and the cutting device and the pressing device are both connected with the control cabinet; the labeling device is arranged in the labeling area and is connected with the control cabinet; the feeding area is positioned on the left side of the processing area, the discharging area is positioned on the front side of the processing area, the labeling area is positioned on the left side of the discharging area, and the manipulator material taking device is positioned between the feeding area and the labeling area; the clamping and feeding device comprises a support frame, a lifting frame, a driving assembly and a plurality of clamping mechanisms; the support frame is arranged on the frame and spans the processing area, the lifting frame can be arranged on the support frame up and down, and a guide piece is fixed on the lifting frame; the driving assembly is arranged on the supporting frame and comprises a movable plate and a first driving mechanism for driving the movable plate to horizontally move back and forth, a guide groove extending obliquely up and down is formed in the movable plate, and the guide piece is embedded in the guide groove and moves up and down along the guide groove; the plurality of clamp mechanisms are transversely arranged on the lifting frame side by side at intervals.

2. The full-automatic side-loading computer saw with manipulator of claim 1, characterized in that: the first driving mechanism is an air cylinder which is fixed on the supporting frame, piston rods extend outwards from two ends of the air cylinder, the number of the movable plates is two, the two movable plates are respectively fixed at the tail ends of the two piston rods, correspondingly, the guide pieces are arranged at two ends of the lifting frame, and the two guide pieces are respectively embedded in the guide grooves of the corresponding movable plates.

3. The full-automatic side-loading computer saw with manipulator of claim 1, characterized in that: the rack is characterized in that the support frame is provided with a rotating shaft and a motor, two ends of the rotating shaft respectively extend out of two ends of the support frame and are fixed with gears, the gears are meshed with racks on the rack, and the motor is fixed on the support frame and drives the rotating shaft to rotate back and forth.

4. The full-automatic side-loading computer saw with manipulator of claim 1, characterized in that: a waste conveying device is arranged on the output side of the processing area and comprises a feeding frame, a movable seat, a second driving mechanism, a swing arm and a material pushing frame; the feeding frame is provided with a containing groove; the movable seat can be movably arranged in the containing groove back and forth; the second driving mechanism is arranged on the feeding frame and drives the movable seat to move back and forth, and the second driving mechanism does not protrude out of the top surface of the feeding frame; the rear end of the swing arm is hinged with the movable seat, the swing arm is positioned in the accommodating groove, and the front end of the swing arm can be arranged in a way of being lifted or sinking relative to the feeding frame; the material pushing frame is fixedly connected with the front end of the swing arm and protrudes or sinks from the top surface of the material feeding frame along with the lifting or sinking of the swing arm.

5. The full-automatic side-loading computer saw with manipulator of claim 4, characterized in that: the feeding frame is provided with a plurality of rollers convenient for sliding conveying of plates, the movable seat and the second driving mechanism do not protrude out of the top surface of the rollers, the material pushing frame is provided with a plurality of abdicating grooves matched with the rollers, when the swing arm moves forwards, the front end of the swing arm is lifted up to enable the material pushing frame to protrude out of the top surface of the rollers, and when the swing arm moves backwards, the front end of the swing arm sinks to enable the material pushing frame to sink below the top surface of the rollers.

6. The full-automatic side-loading computer saw with manipulator of claim 4, characterized in that: the accommodating groove is internally provided with a guide rail, the swing arm is provided with a pulley, and the pulley moves back and forth along the guide rail to enable the front end of the swing arm to lift up or sink down.

7. The full-automatic side-loading computer saw with manipulator of claim 6, characterized in that: the two movable seats are arranged on the left and right, the second driving mechanism drives the two movable seats to synchronously move back and forth, the two swing arms are arranged on the left and right, the rear ends of the two swing arms are respectively hinged with the two movable seats, and the front ends of the two swing arms are respectively fixedly connected with the left end and the right end of the material pushing frame.

8. The full-automatic side-loading computer saw with manipulator of claim 4, characterized in that: the second driving mechanism comprises two transmission chains and a motor, the two transmission chains are arranged from left to right and extend forwards and backwards, the two transmission chains are fixedly connected with the two movable seats respectively, the front end and the rear end of each transmission chain are installed on the feeding frame through a front chain wheel and a rear chain wheel respectively, a transmission shaft is connected between the two rear chain wheels, and the motor is fixed on the feeding frame and drives one of the front chain wheels to rotate back and forth.

9. A method for controlling a fully automatic side loading computer saw with manipulator according to any of claims 1-8, comprising the steps of:

firstly, a feeding device conveys a plate from a feeding area to a processing area, the manipulator material taking device adjusts the direction of the plate in the processing area, when the plate is different, the manipulator material taking device adjusts the direction of the plate, and the manipulator material taking device is provided with vision correction for correcting the plate error so as to accurately process the plate; then, the workpiece clamping and feeding device clamps the plate and conveys the plate to a position between the material pressing device and the cutting device; then, the pressing device compresses tightly panel, then, this cutting device cuts panel, panel after cutting is carried to the ejection of compact district, this manipulator extracting device overturns panel, selects finished product and non-finished product simultaneously, when cutting out is the finished product, manipulator extracting device sends the finished product into and pastes the mark district, again by pasting the mark device and labelling the finished product, when the panel of processing out is non-finished product, this manipulator extracting device automatic identification upset, the error compensation is taken to the vision, send into the pan feeding mouth again, by big panel cutting into little panel, arrive required panel again.

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