CN115229928A - Parallel type four-degree-of-freedom recombined bamboo paving machine - Google Patents

Parallel type four-degree-of-freedom recombined bamboo paving machine Download PDF

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Publication number
CN115229928A
CN115229928A CN202210758216.9A CN202210758216A CN115229928A CN 115229928 A CN115229928 A CN 115229928A CN 202210758216 A CN202210758216 A CN 202210758216A CN 115229928 A CN115229928 A CN 115229928A
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China
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connecting rod
lifting
rod
longitudinal
assembly
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Inventor
谢桂军
曹永建
李兴伟
田心池
马红霞
李腊梅
王剑菁
李怡欣
李万菊
陈利芳
高婕
钱明惠
赖敏婷
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Guangdong Academy of Forestry
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Guangdong Academy of Forestry
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Priority to CN202210758216.9A priority Critical patent/CN115229928A/en
Publication of CN115229928A publication Critical patent/CN115229928A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B27WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27NMANUFACTURE BY DRY PROCESSES OF ARTICLES, WITH OR WITHOUT ORGANIC BINDING AGENTS, MADE FROM PARTICLES OR FIBRES CONSISTING OF WOOD OR OTHER LIGNOCELLULOSIC OR LIKE ORGANIC MATERIAL
    • B27N3/00Manufacture of substantially flat articles, e.g. boards, from particles or fibres
    • B27N3/08Moulding or pressing
    • B27N3/10Moulding of mats
    • B27N3/12Moulding of mats from fibres
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B27WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27JMECHANICAL WORKING OF CANE, CORK, OR SIMILAR MATERIALS
    • B27J1/00Mechanical working of cane or the like

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Forests & Forestry (AREA)
  • Manufacturing & Machinery (AREA)
  • Wood Science & Technology (AREA)
  • Mechanical Engineering (AREA)
  • Road Paving Machines (AREA)

Abstract

The invention relates to a parallel type four-degree-of-freedom recombined bamboo paving machine which comprises a bracket, a longitudinal sliding component, a transverse sliding component, a vertical lifting component and a mechanical claw, wherein the bracket is fixedly connected with the bracket; the longitudinal sliding component is connected with the bracket in a sliding manner and is positioned at the top of the bracket; the transverse sliding assembly is connected with the longitudinal sliding assembly in a sliding manner, the vertical lifting assembly is fixedly connected with the transverse sliding assembly, and a lifting rod of the vertical lifting assembly slides relative to the transverse sliding assembly; the number of the mechanical claws is two, and the two mechanical claws are connected in parallel through a connecting piece and are arranged at the bottom end of the vertical lifting assembly. The invention realizes the mechanical automation of recombined bamboo pavement, enhances the grabbing stability and effectiveness of the recombined bamboo through the two parallel mechanical claws, avoids the problem that the traditional recombined bamboo is unstable to be grabbed through a vacuum chuck, and belongs to the technical field of material conveying.

Description

Parallel type four-degree-of-freedom recombined bamboo paving machine
Technical Field
The invention relates to the technical field of material conveying, in particular to a parallel type four-degree-of-freedom recombined bamboo paving machine.
Background
Bamboo has great difference with wood, and bamboo has the defects of small diameter, hollow, middle knot, waxy and siliceous layer on the surface, bamboo yellow inside which is not easy to be wetted by glue, easy to crack, difficult to process and the like. Therefore, special mechanical equipment is required to process the bamboo tube into bamboo chips, remove green and yellow, unthread and roll the bamboo chips, dip and dry, and mold and form the bamboo chips. At present, the production processes of the recombined bamboo wood are still relatively independently completed, the devices are mutually independent, and the practical production problems of more labor force, low production efficiency, high energy consumption, low safety coefficient, complex process, low automation level and the like exist. In recent years, along with the national emphasis on forestry advanced equipment and the increasing of scientific research investment, recombined bamboo production mechanical equipment is rapidly developed, and an integrated green and yellow removing fluffer, automatic gum dipping equipment, continuous drying equipment, automatic bamboo square cold pressing die filling forming equipment, automatic demoulding equipment and the like are developed. At present, automatic continuous production is realized in partial procedures of restructuring bamboo wood, and automatic continuous production of three procedures of flat head, edging and slicing of the restructuring bamboo wood is realized by using an intelligent control technology, so that the production efficiency is greatly improved, the labor force is saved, the energy consumption is reduced, and the production cost is reduced. However, due to the particularity of the production of the recombined bamboo wood and the limitation of materials, the whole production process cannot realize automatic and continuous production.
The laying is an important process in the recombined bamboo production process, and the important process is that the defibered fibrous bamboo single plates are laid in a mould through grain-following assembly, and the laid bamboo single plates are put into a press for compression molding, so that the recombined bamboo plates can be prepared. However, the fibrous bamboo veneer has a fibrous net structure, the surface is extremely rough, and the fibrous bamboo veneer is in a state of being crisp as a whole and hard as a part after being dipped and dried, so that the phenomenon that the traditional manipulator is easy to slip off when being clamped is caused, and the net structure of the bamboo bundle enables the vacuum chuck to continuously suck the bamboo bundle, so that the traditional mechanical claw cannot smoothly realize pavement in a manner of grabbing the bamboo bundle. In addition, when the bamboo wood is paved, the gluing can be smoothly realized only by requiring a plurality of layers of tabasheer to face upwards and a plurality of layers of bamboo green to face upwards, and the paving process difficulty is increased to a certain extent. The recombined bamboo paving mechanism is different from the paving structure of the traditional woodworking industry, can not realize pavement by using the traditional devices such as paving, sweeping and the like, and needs to ensure the integrity and non-destructiveness of the fiberized bamboo veneer. In conclusion, the development of the recombined bamboo paving equipment has relatively great scientific research potential and practical significance. The summary of the prior art documents shows that the document of the oriented shaving board shaving paving system discusses a plurality of forms of paving the shaving board, and the document of the research of the process and the equipment for the wheat straw board production paving section provides the paving forms and the equipment structures of the wheat straw artificial board. However, in the existing literature research, no specific paving equipment applied to the recombined bamboo production is provided, so that the recombined bamboo can be paved by using mechanical equipment, and the existing industrialized paving workshop section still keeps a manual paving mode.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the parallel type four-degree-of-freedom recombined bamboo paving machine realizes the mechanical automation of recombined bamboo paving, and enhances the grabbing stability and effectiveness of recombined bamboos through two parallel mechanical claws.
In order to achieve the purpose, the invention adopts the following technical scheme:
a parallel type four-degree-of-freedom recombined bamboo paving machine comprises a support, a longitudinal sliding assembly, a transverse sliding assembly, a vertical lifting assembly and a mechanical claw; the longitudinal sliding component is connected with the bracket in a sliding manner and is positioned at the top of the bracket; the transverse sliding assembly is connected with the longitudinal sliding assembly in a sliding manner, the vertical lifting assembly is fixedly connected with the transverse sliding assembly, and a lifting rod of the vertical lifting assembly slides relative to the transverse sliding assembly; the two mechanical claws are arranged at the bottom end of the vertical lifting assembly in parallel through a connecting piece; the gripper comprises a driving part, a driving connecting rod, a material pressing part, a vacuum chuck and a clamping jaw, the connecting part is connected with a lifting rod of the vertical lifting assembly, the driving part is installed on the connecting part, the driving connecting rod is connected with the driving part, the material pressing part is connected with the driving part, the vacuum chuck is connected with the material pressing part, and the clamping jaw is connected with the driving connecting rod.
Preferably, the longitudinal sliding assembly comprises a longitudinal sliding rail, a longitudinal sliding block, a cross beam and a longitudinal motor, the longitudinal sliding rail is arranged on the support, the longitudinal sliding block is fixedly connected with the cross beam, and the longitudinal sliding block is connected with the longitudinal sliding rail in a sliding manner; the support is provided with a longitudinal rack, a longitudinal motor is arranged on a longitudinal sliding block, an output shaft of the longitudinal motor is sleeved with a first driving gear, and the first driving gear is meshed with the longitudinal rack.
Preferably, the transverse sliding assembly comprises a transverse motor, a sliding table top plate, a transverse sliding rail and a transverse sliding block; the transverse sliding rail is arranged at the bottom of the cross beam, the transverse sliding block is arranged at the top of the top plate of the sliding table, and the transverse sliding block is connected with the transverse sliding rail in a sliding manner; the crossbeam is equipped with horizontal rack, and horizontal motor is installed at the slip table roof, and the output shaft cover of horizontal motor has the second driving gear, and second driving gear and horizontal rack toothing, slip table roof and crossbeam slide and connect.
Preferably, the vertical lifting assembly comprises a lifting motor, a lifting rod, a lifting slide rail and a lifting slide block; the lifting slide rail is arranged on one side of the lifting rod, the lifting slide block is arranged on one side of the top plate of the sliding table, and the lifting slide block is connected with the lifting slide rail in a sliding manner; the lifting motor is arranged on one side of the sliding table top plate, the lifting rod is provided with a lifting rack, an output shaft of the lifting motor is sleeved with a third driving gear, and the third driving gear is meshed with the lifting rack; the end part of the lifting rod is fixedly connected with the connecting piece.
Preferably, the connecting piece comprises a connecting plate and a light-weight bracket, the connecting plate is fixedly connected with the end part of the lifting rod, and the light-weight bracket is fixedly connected with the connecting plate; the driving part is installed on the lightweight bracket.
Preferably, the driving part comprises a first air cylinder and a second air cylinder, the first air cylinder is mounted on the light-weight support, and the movable end of the first air cylinder is fixedly connected with the material pressing assembly; the second cylinder is installed on the lightweight support, the movable end of the second cylinder is connected with the swing rod, the outer end of the swing rod is fixedly connected with the rotating shaft, the rotating shaft is rotatably connected with the lightweight support, and the driving connecting rod is fixedly connected with the rotating shaft.
Preferably, the driving connecting rods comprise a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the second connecting rod and the third connecting rod are rotatably connected through a connecting shaft, the second connecting rod is fixedly connected with the first connecting rod, the third connecting rod is fixedly connected with the fourth connecting rod, the number of the clamping jaws is two, and the first connecting rod and the fourth connecting rod are respectively connected with one clamping jaw; the first connecting rod and the fourth connecting rod are symmetrical along the connecting shaft.
Preferably, the pressing part comprises a pressing plate, and the pressing plate is fixedly connected with the movable end of the second cylinder.
Preferably, the support comprises two portal frames arranged side by side, each portal frame comprises two support rods and two connecting rods, the two support rods are vertically arranged, and two ends of each connecting rod are fixedly connected with the top ends of the two support rods; the top at the connecting rod is installed to vertical slide rail, and vertical rack is located one side of connecting rod.
Preferably, the bottom of the support rod is provided with a support plate, and a first stiffening rib is arranged between the support plate and the support rod; a second stiffening rib is arranged between the support rod and the connecting rod.
The invention principle is as follows: compared with the traditional gripping device, the fibrous bamboo veneer identification and stable gripping are realized by the parallel mechanical claws in cooperation with the vacuum chuck, and the effectiveness and stability of the gripped bamboo bundles are adjusted and judged by weighing the gripped bamboo bundles by the pressure sensor arranged in the connecting plate. When the pressing plate is connected with the vacuum chuck for recognition and contacts with the bamboo bundle, the vacuum chuck starts to work, the bamboo bundle is sucked up and the rear clamping jaw returns, the bamboo bundle is supported from the lower part of the bamboo bundle, the clamping jaws are in a state of sucking up and supporting down, and the parallel clamping jaws can ensure that the bamboo veneer is not easy to slip, so that the grabbing stability and effectiveness are further enhanced.
In general, the present invention has the following advantages:
1. according to the invention, the two mechanical claws are installed in parallel, so that the phenomenon that the grabbed fibrous bamboo single plate slips off due to the fact that the clamping area is too small is avoided, the clamping stability is further enhanced, and meanwhile, through the synergistic effect of the vacuum sucker and the mechanical claws, the defect that the mechanical claws cannot grab the single plate is solved, and the defect that the fibrous bamboo single plate cannot stably adsorb due to the fact that the fibrous bamboo single plate is fluffy after being sucked by the vacuum sucker is also solved, so that the mechanical automation of recombined bamboo paving is realized, and the stability and the effectiveness of grabbing the recombined bamboo are enhanced.
2. According to the invention, the pressure sensor is added in the connecting plate, and the quantity of the grabbed fibrous bamboo veneers is identified through weighing, so that the feedback adjustment of the mechanism is realized.
Drawings
Fig. 1 is a perspective view of a parallel type four-degree-of-freedom recombined bamboo paving machine.
Fig. 2 is a perspective view of a gantry.
Fig. 3 is a perspective view of the assembly of the gantry and the longitudinal sliding assembly.
Fig. 4 is a perspective view of the longitudinal slide assembly, the transverse slide assembly, the lift assembly and the gripper assembly.
Fig. 5 is a perspective view of two gripper assemblies assembled in parallel.
Fig. 6 is a bottom view of a parallel assembly of two gripper arms.
The device comprises a support 1, a longitudinal sliding assembly 2, a transverse sliding assembly 3, a vertical lifting assembly 4, a gripper 5, a support plate 6, a support rod 7, a connecting rod 8, a transverse sliding rail 9, a first stiffening rib 10, a second stiffening rib 11, a longitudinal motor 12, a first driving gear 13, a cross beam 14, a transverse rack 15, a second driving gear 16, a transverse motor 17, a sliding table top plate 18, a transverse sliding block 19, a lifting rod 20, a lifting motor 21, a lifting sliding block 22, a connecting plate 23, a lightweight support 24, a second air cylinder 25, a driving connecting rod 26, a clamping jaw 27, a first air cylinder 28, a pressure plate 29, a vacuum suction cup 30, a rotating shaft 31, a swinging rod 32 and a transverse rack 33, wherein the support is a support, the sliding table top plate 18, the lifting sliding table top plate 19, the lifting rod 20, the lifting motor 21, the lifting sliding block 23, the connecting plate 23, the lightweight support 24, the vacuum suction cup 26, the clamping jaw, the rotating shaft 31, the swinging rod 32 and the transverse rack 33.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
A parallel type four-degree-of-freedom recombined bamboo paving machine comprises a support, a longitudinal sliding assembly, a transverse sliding assembly, a vertical lifting assembly and a mechanical claw; the longitudinal sliding component is connected with the bracket in a sliding manner and is positioned at the top of the bracket; the transverse sliding assembly is connected with the longitudinal sliding assembly in a sliding manner, the vertical lifting assembly is fixedly connected with the transverse sliding assembly, and a lifting rod of the vertical lifting assembly slides relative to the transverse sliding assembly; the number of the mechanical claws is two, and the two mechanical claws are arranged at the bottom end of the vertical lifting assembly in parallel through a connecting piece; the gripper comprises a driving part, a driving connecting rod, a material pressing part, a vacuum chuck and a clamping jaw, the connecting part is connected with a lifting rod of the vertical lifting assembly, the driving part is installed on the connecting part, the driving connecting rod is connected with the driving part, the material pressing part is connected with the driving part, the vacuum chuck is connected with the material pressing part, and the clamping jaw is connected with the driving connecting rod.
The longitudinal sliding assembly comprises a longitudinal sliding rail, a longitudinal sliding block, a cross beam and a longitudinal motor, the longitudinal sliding rail is arranged on the support, the longitudinal sliding block is fixedly connected with the cross beam, and the longitudinal sliding block is connected with the longitudinal sliding rail in a sliding manner; the support is provided with a longitudinal rack, a longitudinal motor is arranged on a longitudinal sliding block, an output shaft of the longitudinal motor is sleeved with a first driving gear, and the first driving gear is meshed with the longitudinal rack. The quantity of longitudinal sliding blocks is two, the quantity of crossbeams is two, the end parts of the two crossbeams are fixed with a connecting plate, the two longitudinal sliding blocks are fixed with the connecting plate, the two longitudinal sliding blocks are connected with the longitudinal sliding rail in a sliding mode, and the two ends of the crossbeams are connected with the two portal frames in a sliding mode respectively. The parts connected with the two ends of the cross beam are the same, and the difference is that one end of the cross beam is provided with a longitudinal motor, a longitudinal rack and a first driving gear as main drive, and the other end of the cross beam is only provided with a longitudinal sliding block and a longitudinal sliding rail which slide along with one end of the longitudinal motor.
The transverse sliding assembly comprises a transverse motor, a sliding table top plate, a transverse sliding rail and a transverse sliding block; the transverse sliding rail is arranged at the bottom of the cross beam, the transverse sliding block is arranged at the top of the top plate of the sliding table, and the transverse sliding block is connected with the transverse sliding rail in a sliding manner; the crossbeam is equipped with horizontal rack, and horizontal motor is installed at the slip table roof, and the output shaft cover of horizontal motor has the second driving gear, and second driving gear and horizontal rack toothing, slip table roof and crossbeam slide and connect. In this embodiment, slip table roof slides through four horizontal sliders and two crossbeams and connects, and two crossbeam intervals set up, and four horizontal sliders distribute at four corners of slip table roof, are the rectangle and distribute. Horizontal rack setting is in the inboard of one of them crossbeam, and the inboard is located two horizontal opposite sides, and the stiff end of horizontal motor is fixed at the slip table roof, and the expansion end of horizontal motor sets up towards the branch. The transverse rack extends along the length direction of the cross bar.
The vertical lifting assembly comprises a lifting motor, a lifting rod, a lifting slide rail and a lifting slide block; the lifting slide rail is arranged on one side of the lifting rod, the lifting slide block is arranged on one side of the top plate of the sliding table, and the lifting slide block is connected with the lifting slide rail in a sliding manner; the lifting motor is arranged on one side of the sliding table top plate, the lifting rod is provided with a lifting rack, an output shaft of the lifting motor is sleeved with a third driving gear, and the third driving gear is meshed with the lifting rack; the end part of the lifting rod is fixedly connected with the connecting piece. In this embodiment, one side of slip table roof is equipped with downwardly extending's curb plate, and the elevator motor stiff end is fixed at the curb plate, and the elevator slide block is fixed at the curb plate, through motor drive third driving gear to the lifter slides in the elevator slide block, realizes spacing to the lifter, only allows the lifter to remove in vertical direction.
The connecting piece comprises a connecting plate and a lightweight bracket, the connecting plate is fixedly connected with the end part of the lifting rod, and the lightweight bracket is fixedly connected with the connecting plate; the driving part is installed on the lightweight bracket. In this embodiment, the lightweight support is formed by splicing a plurality of rods.
The driving part comprises a first air cylinder and a second air cylinder, the first air cylinder is arranged on the light-weight support, and the movable end of the first air cylinder is fixedly connected with the material pressing assembly; the second cylinder is installed on the lightweight support, the movable end of the second cylinder is connected with the swing rod, the outer end of the swing rod is fixedly connected with the rotating shaft, the rotating shaft is rotatably connected with the lightweight support, and the driving connecting rod is fixedly connected with the rotating shaft.
The driving connecting rods comprise a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the second connecting rod and the third connecting rod are rotatably connected through a connecting shaft, the second connecting rod is fixedly connected with the first connecting rod, the third connecting rod is fixedly connected with the fourth connecting rod, the number of the clamping jaws is two, and the first connecting rod and the fourth connecting rod are respectively connected with one clamping jaw; the first connecting rod and the fourth connecting rod are symmetrical along the connecting shaft. Each mechanical claw comprises two driving connecting rods, the two driving connecting rods are respectively located on two sides of the light-weight support, the difference lies in that the driving connecting rod on one side is driven by the second air cylinder to swing, the driving connecting rod on the other side swings along with the swing of the clamping jaw, and the driving connecting rod on the one side is the driving connecting rod.
The material pressing component comprises a material pressing plate, and the material pressing plate is fixedly connected with the movable end of the second cylinder. The pressure flitch is pressed down towards the clamping jaw clamp region through the second cylinder, makes the reorganization bamboo that the clamping jaw clamp was got flush. The number of the pressure plates is four, the four pressure plates are distributed in the clamping area of the two mechanical claws, and two pressure plates are distributed on two sides of each mechanical claw.
The support comprises two portal frames arranged side by side, each portal frame comprises two supporting rods and two connecting rods, the two supporting rods are vertically arranged, and two ends of each connecting rod are fixedly connected with the top ends of the two supporting rods; the longitudinal sliding rail is arranged at the top end of the connecting rod, and the longitudinal rack is positioned on one side of the connecting rod. In this embodiment, two portal frames set up at a certain distance apart. The extension direction of the longitudinal rack is consistent with the length direction of the connecting rod, and the longitudinal rack is positioned on the inner side of the connecting rod. The inner side of the connecting rod is positioned on the opposite side surfaces of the two portal frames.
The bottom of the supporting rod is provided with a supporting plate, and a first stiffening rib is arranged between the supporting plate and the supporting rod; a second stiffening rib is arranged between the support rod and the connecting rod. The top of bracing piece also is equipped with the backup pad to improve the stability of connecting rod, also made things convenient for the installation of connecting rod. Specifically, the second stiffening ribs are arranged between the supporting plate at the top and the top end of the supporting rod; the supporting plate and the supporting rod are welded, and the stiffening ribs are connected with the supporting plate and the supporting rod through welding.
The portal frame is fixed on the ground, and the longitudinal motor drives the first driving gear to push the cross beam to realize the movement in the longitudinal direction; the transverse motor drives the second driving gear to push the sliding table top plate to move in the transverse direction below the cross beam; the lifting motor drives the third driving gear to push the lifting rod to slide on the lifting slide block, so that the vertical movement is realized; a semicircular deep groove is formed in the connecting plate, and a pressure sensor is arranged in the deep groove to realize weighing; the pressure flitch utilizes screw thread installation vacuum chuck, promotes through first cylinder at last and presses the flitch and move in vertical direction and flatten the reorganization bamboo, and the second cylinder drives the drive connecting rod and swings, and drive connecting rod drive clamping jaw is realized drawing in and opening in the swing of lightweight support.
The fiberized bamboo veneer can present a local hard and overall soft state after gum dipping and drying, a layer of brittle glue film can be formed on the surface due to the solidification of a small amount of adhesive, and meanwhile, when the bamboo veneer is locally pressed, bamboo fibers on the surface can be in an aggregated state to form a compact form, so that the possibility of suction by a vacuum chuck is ensured. The stacker stacks the bamboo chips in different planes and then starts to enter a paving stage. When the gripper identifies a bamboo bundle, the lifting rod descends to a proper position, the pressure plate descends, the vacuum chuck starts to work, the fibrous bamboo veneer is sucked up, then the pressure sensor weighs the material, and when the weight is higher than or lower than a set threshold value, the fibrous bamboo veneer is not taken out of compliance and is sucked again. Because the strength of the sucked adhesive film is difficult to support the weight of the fiberized bamboo veneer, and the locally compact bamboo fibers can be re-dispersed into a net structure during the suction, the second cylinder drives the clamping jaw to fold during the suction, the bamboo veneer is lifted from the lower part, and the fiberized bamboo veneer is in a state of being sucked up and supported down. Subsequently, the lifter rises, and the horizontal motor drive slip table roof of accessible moves on the crossbeam, and the vertical motor of accessible removes the crossbeam to realize planar motion, after arriving the station of mating formation, the second cylinder drives the clamping jaw and rotates to suitable angle. The pressure flitch pushes down properly, and vacuum chuck produces suction, and the clamping jaw opens gradually, and vacuum chuck suction reinforcing ensures that the fiberization bamboo veneer can not appear dropping suddenly, moves down suitable position afterwards to the pressure flitch, and vacuum chuck weakens suction gradually, realizes the steady blanking of bamboo bundle. The mechanism has the characteristics of novel design, simple structure, stable movement, light weight and the like, and provides a new idea for the recombined bamboo paving process.
The mechanical claw control consists of a kinematic module and a dynamic module, the dynamic model has high nonlinearity and coupling, and a simplified model is obtained by linearization after decoupling. Firstly, solving the inverse kinematics of the mechanical claw, and converting position information Lr captured by a camera into an input torque tau of a motor through a conversion matrix K1; secondly, establishing a connection between the input torque tau of the motor and the output rotation angle theta through a transfer function G(s) of a mechanical claw dynamic model, and further providing power for a connecting rod; and finally, carrying out relation transformation on the motor output rotation angle and the real position Lc output by the mechanical claw through a transformation matrix K2 of a kinematic equation, comparing the transformed relation with the input position, and adjusting the motor output rotation angle according to errors so as to achieve the purpose of accurate grabbing. Wherein the transfer function is represented as
Figure BDA0003723345410000081
M is a mass matrix, C is a Coriolis acceleration matrix, and G is a gravity acceleration matrix.
The transfer function of the gripper motion control is
Figure BDA0003723345410000082
f -1 Is a conversion matrix that converts position information into rotation angle information, and S refers to a spatial variable in a complex field.
The industrial camera captures information of the fiberized bamboo veneer and transmits the information to the controller, the controller sends an instruction to the vacuum chuck, the corresponding motor and the corresponding cylinder, the fiberized bamboo veneer is adsorbed by the vacuum chuck, the lifting motor provides power to enable the mechanical claw to reach the position of the captured fiberized bamboo veneer, finally the current position of the output mechanical claw is detected and fed back, and the mechanical claw reaches the preset position to capture the fiberized bamboo veneer. The control structure system for transferring the grabbed fibrous bamboo single plate to the appointed position is still the same as that for grabbing the fibrous bamboo single plate, and the target position is obtained by solving the inverse kinematics of the mechanical claw, so that the fibrous bamboo single plate is accurately transferred. In addition, a pressure sensor is arranged at the tail end of the mechanical claw, and the weight of the grabbed fibrous bamboo veneer is judged. The grabbing, moving and paving actions of the fiberized bamboo veneer can be finished.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (10)

1. The utility model provides a restructuring bamboo spreading machine of four degrees of freedom of parallel which characterized in that: the device comprises a bracket, a longitudinal sliding component, a transverse sliding component, a vertical lifting component and a mechanical claw; the longitudinal sliding component is connected with the bracket in a sliding manner and is positioned at the top of the bracket; the transverse sliding assembly is connected with the longitudinal sliding assembly in a sliding manner, the vertical lifting assembly is fixedly connected with the transverse sliding assembly, and a lifting rod of the vertical lifting assembly slides relative to the transverse sliding assembly; the number of the mechanical claws is two, and the two mechanical claws are arranged at the bottom end of the vertical lifting assembly in parallel through a connecting piece; the gripper comprises a driving part, a driving connecting rod, a material pressing part, a vacuum chuck and a clamping jaw, the connecting part is connected with a lifting rod of the vertical lifting assembly, the driving part is installed on the connecting part, the driving connecting rod is connected with the driving part, the material pressing part is connected with the driving part, the vacuum chuck is connected with the material pressing part, and the clamping jaw is connected with the driving connecting rod.
2. A parallel four-degree-of-freedom recombined bamboo paving machine according to claim 1, characterized in that: the longitudinal sliding assembly comprises a longitudinal sliding rail, a longitudinal sliding block, a cross beam and a longitudinal motor, the longitudinal sliding rail is arranged on the support, the longitudinal sliding block is fixedly connected with the cross beam, and the longitudinal sliding block is connected with the longitudinal sliding rail in a sliding manner; the support is provided with a longitudinal rack, a longitudinal motor is arranged on a longitudinal sliding block, an output shaft of the longitudinal motor is sleeved with a first driving gear, and the first driving gear is meshed with the longitudinal rack.
3. A parallel four-degree-of-freedom recombined bamboo paving machine according to claim 2, characterized in that: the transverse sliding assembly comprises a transverse motor, a sliding table top plate, a transverse sliding rail and a transverse sliding block; the transverse sliding rail is arranged at the bottom of the cross beam, the transverse sliding block is arranged at the top of the top plate of the sliding table, and the transverse sliding block is connected with the transverse sliding rail in a sliding manner; the crossbeam is equipped with horizontal rack, and horizontal motor is installed at the slip table roof, and the output shaft cover of horizontal motor has the second driving gear, and second driving gear and horizontal rack toothing, slip table roof and crossbeam slide and connect.
4. A parallel type four-degree-of-freedom recombined bamboo paving machine according to claim 3, characterized in that: the vertical lifting assembly comprises a lifting motor, a lifting rod, a lifting slide rail and a lifting slide block; the lifting slide rail is arranged on one side of the lifting rod, the lifting slide block is arranged on one side of the top plate of the sliding table, and the lifting slide block is connected with the lifting slide rail in a sliding manner; the lifting motor is arranged on one side of the top plate of the sliding table, the lifting rod is provided with a lifting rack, an output shaft of the lifting motor is sleeved with a third driving gear, and the third driving gear is meshed with the lifting rack; the end part of the lifting rod is fixedly connected with the connecting piece.
5. A parallel type four-degree-of-freedom recombined bamboo paving machine according to claim 4, which is characterized in that: the connecting piece comprises a connecting plate and a lightweight bracket, the connecting plate is fixedly connected with the end part of the lifting rod, and the lightweight bracket is fixedly connected with the connecting plate; the driving part is installed on the lightweight bracket.
6. A parallel type four-degree-of-freedom recombined bamboo paving machine according to claim 5, characterized in that: the driving part comprises a first air cylinder and a second air cylinder, the first air cylinder is arranged on the light-weight support, and the movable end of the first air cylinder is fixedly connected with the material pressing assembly; the second cylinder is installed on the lightweight support, the movable end of the second cylinder is connected with the swing rod, the outer end of the swing rod is fixedly connected with the rotating shaft, the rotating shaft is rotatably connected with the lightweight support, and the driving connecting rod is fixedly connected with the rotating shaft.
7. A parallel type four-degree-of-freedom recombined bamboo paving machine according to claim 6, which is characterized in that: the driving connecting rod comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the second connecting rod is rotatably connected with the third connecting rod through a connecting shaft, the second connecting rod is fixedly connected with the first connecting rod, the third connecting rod is fixedly connected with the fourth connecting rod, the number of the clamping jaws is two, and the first connecting rod and the fourth connecting rod are respectively connected with one clamping jaw; the first connecting rod and the fourth connecting rod are symmetrical along the connecting shaft.
8. A parallel type four-degree-of-freedom recombined bamboo paving machine according to claim 6, characterized in that: the material pressing component comprises a material pressing plate, and the material pressing plate is fixedly connected with the movable end of the second cylinder.
9. A parallel four-degree-of-freedom recombined bamboo paving machine according to claim 2, characterized in that: the support comprises two portal frames arranged side by side, each portal frame comprises two support rods and two connecting rods, the two support rods are vertically arranged, and two ends of each connecting rod are fixedly connected with the top ends of the two support rods; the top at the connecting rod is installed to vertical slide rail, and vertical rack is located one side of connecting rod.
10. A parallel type four-degree-of-freedom recombined bamboo paving machine according to claim 9, characterized in that: the bottom of the supporting rod is provided with a supporting plate, and a first stiffening rib is arranged between the supporting plate and the supporting rod; a second stiffening rib is arranged between the support rod and the connecting rod.
CN202210758216.9A 2022-06-30 2022-06-30 Parallel type four-degree-of-freedom recombined bamboo paving machine Pending CN115229928A (en)

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