CN116119341B - Be used for log rotary-cut processing to use material loading manipulator - Google Patents
Be used for log rotary-cut processing to use material loading manipulator Download PDFInfo
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- CN116119341B CN116119341B CN202310348792.0A CN202310348792A CN116119341B CN 116119341 B CN116119341 B CN 116119341B CN 202310348792 A CN202310348792 A CN 202310348792A CN 116119341 B CN116119341 B CN 116119341B
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- material preparation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27L—REMOVING BARK OR VESTIGES OF BRANCHES; SPLITTING WOOD; MANUFACTURE OF VENEER, WOODEN STICKS, WOOD SHAVINGS, WOOD FIBRES OR WOOD POWDER
- B27L5/00—Manufacture of veneer ; Preparatory processing therefor
- B27L5/002—Wood or veneer transporting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27L—REMOVING BARK OR VESTIGES OF BRANCHES; SPLITTING WOOD; MANUFACTURE OF VENEER, WOODEN STICKS, WOOD SHAVINGS, WOOD FIBRES OR WOOD POWDER
- B27L5/00—Manufacture of veneer ; Preparatory processing therefor
- B27L5/02—Cutting strips from a rotating trunk or piece; Veneer lathes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0282—Wooden articles, e.g. logs, trunks or planks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Wood Science & Technology (AREA)
- Forests & Forestry (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a feeding manipulator for log rotary cutting processing, which comprises a material preparation box and a PLC (programmable logic controller) arranged on the material preparation box, wherein a bottom material supporting rod assembly for rolling and guiding out inner timber of the material preparation box and vibrating the inner timber of the material preparation box in the vertical direction is arranged below the material preparation box, and a discharge hole for penetrating out the bottom material supporting rod assembly is formed in one side of the lower part of the material preparation box; a clamping jaw structure used for grabbing the log is arranged above one end of the bottom support material rod assembly penetrating out of the material preparation box, and a log hook structure used for hooking the bottom of the log during clamping is arranged on the clamping jaw structure; the log in the material preparation box can be positioned and guided out through the collet material rod assembly, the rolling automatic feeding of the log in the material preparation box can be realized through the discharge hole, and the fixed point grabbing feeding of the log is realized under the driving of the movable driving assembly by the convenient clamping jaw structure.
Description
Technical Field
The invention relates to the field of mechanical arm equipment, in particular to a feeding mechanical arm for log rotary cutting processing.
Background
In the life today, under the development of new moon in science and technology, the maximum difference between the robot arm and the arm with human being is the flexibility and the strength, that is, the maximum advantage of the robot arm can repeatedly do the same action and can not feel tired under the normal condition of the machine, the application of the robot arm will be more and more extensive, and the robot arm is a high-tech automatic production device developed in recent decades, and the accuracy of the operation and the capability of completing the operation in the environment.
The utility model provides a log is disconnected expects and transports manipulator, includes frame, actuating cylinder, synchronous frame, gripper, actuating cylinder fixed connection is in the frame, synchronous frame fixed connection is in actuating cylinder's piston end, the gripper sets up synchronous frame below, the gripper top is connected with revolving cylinder, revolving cylinder upside with synchronous frame fixed connection, the gripper includes claw tooth, dead lever, movable lever, the upper end of dead lever rotates to be connected in the frame, the lower extreme of dead lever with claw tooth articulates mutually, the movable lever upper end with revolving cylinder fixed connection, the movable lever other end passes the dead lever with claw tooth articulates mutually.
In the prior art, when the log is grabbed and moved, the log is positioned inaccurately due to the fact that the stacking position and the whole body of the log are round and easy to roll, and the length of the log clamped at two ends of the claw is different, so that the situation that the center is unstable is easy to occur.
Disclosure of Invention
The invention aims to solve the problems and provide a feeding manipulator for log rotary cutting processing.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the invention provides a feeding manipulator for log rotary cutting processing, which comprises a material preparation box and a PLC (programmable logic controller) arranged on the material preparation box, wherein a bottom material supporting rod assembly for rolling and guiding out inner timber of the material preparation box and vibrating the inner timber in the vertical direction is arranged below the material preparation box, and a discharge hole for penetrating out the bottom material supporting rod assembly is formed in one side of the lower part of the material preparation box;
a clamping jaw structure used for grabbing the log is arranged above one end of the bottom support material rod assembly penetrating out of the material preparation box, and a log hook structure used for hooking the bottom of the log during clamping is arranged on the clamping jaw structure;
the utility model discloses a material preparation box, including the material preparation box, the material preparation box is close to clamping jaw structure, the fixed support that is provided with in one side that is close to the clamping jaw structure, be provided with on the support and be used for driving the clamping jaw structure along the removal drive assembly of upper and lower direction and horizontal direction removal, be provided with between removal drive assembly and the material preparation box and be used for realizing the side pushing components to the horizontal direction vibrations of log in the material preparation box.
Further, collet material pole subassembly includes the base of appearance U type, the U type opening both ends upside of base all articulates the one end that has the slope to slide the flitch through the articulated shaft, fixedly connected with back shaft between the other end downside of two slope to slide the flitch, is provided with the second pneumatic cylinder between base and the back shaft, the push rod head end fixedly connected with rotary drum of second pneumatic cylinder, the rotary drum rotates the middle part outside that sets up at the back shaft, the tail end of second pneumatic cylinder articulates to the upside of base through articulated seat, the one end upside fixedly connected with arc striker plate that the slope is close to the articulated shaft of slope to slide the flitch, when the push rod of second pneumatic cylinder reached minimum stroke, slope the flitch is by high to low slope along the direction that is far away from the articulated shaft, and inclination is 5 ~ 15, the output electricity of PLC controller is connected to the input of second pneumatic cylinder.
Further, clamping jaw structure is provided with two that use collet material pole subassembly as central symmetry distribution, clamping jaw structure includes first electric telescopic handle, and the push rod head end of two first electric telescopic handles sets up and equal fixedly connected with centre gripping support the piece each other, the centre gripping is supported the piece inside and is offered and be used for cooperating the gliding flexible pore of push rod direction of first electric telescopic handle, the inside terminal surface in flexible pore is fixed and is provided with pressure sensor, fixedly connected with first spring between the push rod head end of pressure sensor and first electric telescopic handle, the centre gripping supports one side that the piece kept away from first electric telescopic handle and is fixedly provided with slipmat, the output electricity of PLC controller is connected to the input of first electric telescopic handle, pressure sensor's output electricity is connected to the input of PLC controller.
Further, remove the drive assembly and include vertical removal drive assembly, vertical removal drive assembly includes the horizontal pole, and the upside middle part position fixing of horizontal pole is provided with first pneumatic cylinder, and the push rod head end fixedly connected with roof of first pneumatic cylinder, the both ends downside fixedly connected with second guide bar of roof, the lower extreme of two second guide bars is fixedly connected with respectively on the first electric telescopic handle of two clamping jaw structures, the both ends of horizontal pole are fixed to be provided with the journal stirrup, two journal stirrups and two second guide bars each other one-to-one, run through on the journal stirrup and offered the second direction slide hole that is used for sliding through the second guide bar, the output electricity of PLC controller is connected to the input of first pneumatic cylinder.
Further, remove drive assembly still includes horizontal migration drive assembly, horizontal migration drive assembly includes the lead screw, and the one end of lead screw is rotated by the motor drive of fixed setting on the feed bin lateral wall that prepares, and the other end of lead screw rotates to be connected to on the support, and the both sides of lead screw are provided with and use it as the first guide bar of more than two sets of central symmetry distribution, the one end fixed connection of first guide bar is on the support, through fixed plate each other fixed connection between the other end of first guide bar, the fixed plate passes through bolt fixed connection to feed bin lateral wall on, threaded connection has the nut on the lead screw, nut and horizontal pole each other fixed connection, the both ends of horizontal pole run through offered with first direction slide hole of first guide bar cooperation direction slip, the output electricity of PLC controller is connected to the input of motor.
Further, the log couple structure includes the crossbeam, and the fixed downside that sets up at the crossbeam in both ends of crossbeam, the middle part position of crossbeam articulates there is the second electric telescopic handle, and the push rod head end of second electric telescopic handle is down and fixedly connected with and is the hanging hook of J type, one side that the crossbeam is close to the second electric telescopic handle articulates there is the third electric telescopic handle, and the push rod head end of third electric telescopic handle and the tail end of second electric telescopic handle are articulated each other, the output of PLC controller is electrically connected to the input of second electric telescopic handle and third electric telescopic handle respectively.
Further, two side pushing assemblies are arranged, the two side pushing assemblies are symmetrically distributed by taking the first hydraulic cylinder as a center, and each side pushing assembly comprises a knocking structure arranged on a cross rod and a pushing plate structure arranged on a material preparation box;
the push plate structure comprises an opening groove formed in the side wall of the material preparation box, the appearance of the opening groove is cuboid, the length direction of the opening groove extends along the vertical direction, a side pushing plate is arranged in the opening groove, the lower end of the side pushing plate is rotationally connected to the bottom in the opening groove, the upper end of the side pushing plate is close to one end of an arc-shaped guide rod fixedly connected with one side of a support, the arc center of the arc-shaped guide rod is located the rotation central axis of the side pushing plate, the other end of the arc-shaped guide rod slides through the support and is fixedly connected with a first stop block, and a second spring is nested outside the arc-shaped guide rod and located between the first stop block and the support.
Further, strike the structure and include the third guide bar, the one end fixedly connected with who is close to the side thrust plate of third guide bar strikes the piece, the other end of third guide bar slides and passes the horizontal pole and fixedly connected with second dog, is located strike between piece and the horizontal pole the outside nested third spring that has of third guide bar.
Further, the appearance of preparing the workbin is the cuboid shape, the downside of preparing the workbin is offered and is used for passing the through pole logical groove of collet material pole subassembly, the inside of preparing the workbin is formed with the storage cavity that is used for storing the log, the bottom of preparing the workbin is through being the location connecting plate and collet material pole subassembly each other fixed connection of L type.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
1. the logs stacked in the material preparation box can be positioned and guided out through the bottom support material rod assembly, rolling automatic feeding of the logs in the material preparation box can be realized through the discharge hole, and fixed-point grabbing feeding of the logs is realized through the clamping jaw structure under the driving of the movable driving assembly;
2. the side pushing assembly is used for realizing the horizontal shaking of the logs in the material preparation box, the bottom supporting rod assembly is used for realizing the vertical shaking of the logs in the material preparation box, and the two components are matched to ensure that the logs in the material preparation box are kept smooth and continuous during blanking, so that the condition of overhead blockage is prevented;
3. the log hook structure can support the middle position of a log when the clamping jaw structure clamps the log, so that the clamping jaw structure can clamp and move the heavier log with a small clamping force;
4. the clamping block, the pressure sensor and the first spring in the clamping jaw structure are matched, so that the automatic clamping of logs with different lengths can be realized, and the clamping force of each log is kept consistent.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the front view of the present invention;
FIG. 2 is a schematic diagram of the left-hand construction of FIG. 1 according to the present invention;
FIG. 3 is a schematic view of the cross-sectional structure of FIG. 2 A-A in accordance with the present invention;
FIG. 4 is a schematic top view of the structure of FIG. 1 of the present invention;
FIG. 5 is a schematic cross-sectional view of a clamping block according to the present invention;
FIG. 6 is a schematic perspective view of the structure of FIG. 1 according to the present invention;
fig. 7 is a schematic view of another directional perspective structure of fig. 1 according to the present invention.
The reference numerals are explained as follows: 1. preparing a material box; 1a, a discharge hole; 2. a clamping jaw structure; 201. a first electric telescopic rod; 202. clamping the abutting block; 203. a telescopic duct; 204. a pressure sensor; 205. a first spring; 206. an anti-slip pad; 3. a horizontal movement driving assembly; 301. a first guide bar; 302. a fixing plate; 303. a motor; 304. a screw rod; 305. a nut; 4. a vertical movement drive assembly; 401. a top plate; 402. a first hydraulic cylinder; 403. a support lug; 404. a second guide bar; 405. a cross bar; 5. a bracket; 6. a side pushing assembly; 601. a side pushing rotating plate; 602. an arc-shaped guide rod; 603. a first stopper; 604. a second spring; 605. knocking the block; 606. a third spring; 607. a third guide bar; 608. a second stopper; 7. a collet bar assembly; 701. a base; 702. tilting the slide plate; 703. a second hydraulic cylinder; 704. a support shaft; 705. a hinge shaft; 706. an arc-shaped material baffle plate; 8. a log hooking structure; 801. a cross beam; 802. a second electric telescopic rod; 803. a hanging hook; 804. a third electric telescopic rod; 9. and a PLC controller.
Detailed Description
For the purpose of the present invention; the technical scheme and advantages are more clear, and the technical scheme of the invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
Referring to fig. 1-7, the invention provides a feeding manipulator for log rotary cutting processing, which comprises a material preparation box 1 and a PLC (programmable logic controller) 9 arranged on the material preparation box, wherein a bottom material supporting rod assembly 7 for rolling and guiding out internal timber and vibrating the internal timber in the vertical direction is arranged below the material preparation box 1, and a discharge hole 1a for penetrating out of the bottom material supporting rod assembly 7 is formed in one side of the lower part of the material preparation box 1;
a clamping jaw structure 2 used for grabbing logs is arranged above one end of the collet bar assembly 7 penetrating out of the material preparation box 1, and a log hook structure 8 used for hooking the bottoms of the logs during clamping is arranged on the clamping jaw structure 2;
a support 5 is fixedly arranged on one side of the material preparation box 1, which is close to the clamping jaw structure 2, a movable driving component for driving the clamping jaw structure 2 to move along the up-down direction and the horizontal direction is arranged on the support 5, and a side pushing component 6 for vibrating the inner circle wood of the material preparation box 1 in the horizontal direction is arranged between the movable driving component and the material preparation box 1.
Referring to fig. 1 and 7 of the specification, the bottom bracket rod assembly 7 includes a U-shaped base 701, two ends of a U-shaped opening of the base 701 are hinged with one ends of inclined slide plates 702 through hinge shafts 705, a supporting shaft 704 is fixedly connected between the lower sides of the other ends of the two inclined slide plates 702, a second hydraulic cylinder 703 is arranged between the base 701 and the supporting shaft 704, a head end of a push rod of the second hydraulic cylinder 703 is fixedly connected with a rotary drum, the rotary drum is rotatably arranged on the outer side of the middle of the supporting shaft 704, the tail end of the second hydraulic cylinder 703 is hinged to the upper side of the base 701 through a hinge seat, one end, close to the hinge shafts 705, of the inclined slide plates 702 is fixedly connected with an arc-shaped baffle 706, when the push rod of the second hydraulic cylinder 703 reaches a minimum stroke, the inclined slide plates 702 incline from high to low along a direction far from the hinge shafts 705, and the inclination angle is 5 ° to 15 °, and the output end of the PLC controller 9 is electrically connected to the input end of the second hydraulic cylinder 703. Through the specific structural design, the bottom stock rod assembly 7 has two functions, and the first function is to realize the rolling automatic feeding of logs in the stock bin 1; the second function is used for realizing up-and-down shaking of logs in the material preparation box 1 and preventing the condition that the material preparation box 1 is blocked and overhead occurs.
Referring to fig. 2 and 5 of the specification, the clamping jaw structure 2 is provided with two clamping jaw structures which are symmetrically distributed by taking the collet rod assembly 7 as a center, each clamping jaw structure 2 comprises a first electric telescopic rod 201, push rod head ends of the two first electric telescopic rods 201 are opposite to each other and are fixedly connected with a clamping support block 202, a telescopic duct 203 which is used for matching with the push rod guide sliding of the first electric telescopic rod 201 is formed in the clamping support block 202, a pressure sensor 204 is fixedly arranged on the inner end face of the telescopic duct 203, a first spring 205 is fixedly connected between the pressure sensor 204 and the push rod head end of the first electric telescopic rod 201, a non-slip pad 206 is fixedly arranged on one side, far away from the first electric telescopic rod 201, of the clamping support block 202, the output end of the PLC controller 9 is electrically connected to the input end of the first electric telescopic rod 201, and the output end of the pressure sensor 204 is electrically connected to the input end of the PLC controller 9. Through the above-mentioned concrete structural design, when the log rolls to arc striker plate 706 department by the slope slide plate 702 of collet stock pole subassembly 7, because the instability of route of movement, the distance of log both ends and clamping jaw structure 2 is different, or the length of different logs has the difference, and clamping in clamping jaw structure 2 supports piece 202, pressure sensor 204 and first spring 205 cooperation can realize getting the automation of different length logs, and the dynamics of getting to the clamp of every log keeps unanimous.
Referring to fig. 1 and 6 of the specification, the moving driving assembly includes a vertical moving driving assembly 4, the vertical moving driving assembly 4 includes a cross rod 405, a first hydraulic cylinder 402 is fixedly disposed at a middle position of an upper side of the cross rod 405, a top plate 401 is fixedly connected to a push rod head end of the first hydraulic cylinder 402, second guide rods 404 are fixedly connected to lower sides of two ends of the top plate 401, lower ends of the two second guide rods 404 are respectively and fixedly connected to the first electric telescopic rods 201 of the two clamping jaw structures 2, lugs 403 are fixedly disposed at two ends of the cross rod 405, the two lugs 403 and the two second guide rods 404 are in one-to-one correspondence with each other, second guide sliding holes for sliding through the second guide rods 404 are formed in the lugs 403, and an output end of the PLC controller 9 is electrically connected to an input end of the first hydraulic cylinder 402.
As shown in fig. 6 of the specification, the moving driving assembly further includes a horizontal moving driving assembly 3, the horizontal moving driving assembly 3 includes a lead screw 304, one end of the lead screw 304 is driven to rotate by a motor 303 fixedly disposed on the outer side wall of the material preparation box 1, the other end of the lead screw 304 is rotationally connected to the support 5, two sides of the lead screw 304 are provided with more than two groups of first guide rods 301 symmetrically distributed with respect to the lead screw, one end of each first guide rod 301 is fixedly connected to the support 5, the other ends of the first guide rods 301 are fixedly connected with each other through a fixing plate 302, the fixing plates 302 are fixedly connected to the outer side wall of the material preparation box 1 through bolts, nuts 305 are connected to the lead screw 304 in a threaded manner, the nuts 305 are fixedly connected with a cross rod 405, two ends of the cross rod 405 are penetrated and provided with first guide sliding holes matched with the first guide rods 301 in a guiding manner, and an output end of the PLC controller 9 is electrically connected to an input end of the motor 303.
Referring to fig. 3 of the specification, the log hooking structure 8 includes a cross beam 801, two ends of the cross beam 801 are fixedly disposed at the lower side of the cross beam 405, a second electric telescopic rod 802 is hinged at the middle position of the cross beam 801, the head end of a push rod of the second electric telescopic rod 802 faces downwards and is fixedly connected with a hanging hook 803 in a J shape, one side of the cross beam 801, which is close to the second electric telescopic rod 802, is hinged with a third electric telescopic rod 804, the head end of the push rod of the third electric telescopic rod 804 is hinged with the tail end of the second electric telescopic rod 802, and the output end of the PLC controller 9 is respectively electrically connected to the input ends of the second electric telescopic rod 802 and the third electric telescopic rod 804. In practical application, when two clamping jaw structures 2 press from both sides the log and get the removal, in order to avoid taking place because of the condition that log weight is overweight leads to droing, log couple structure 8 can realize the support to log middle part position when clamping jaw structure 2 presss from both sides the log for clamping jaw structure 2 uses very little clamping force can realize pressing from both sides the removal to heavier log.
As shown in fig. 4 and 6 of the specification, two side pushing assemblies 6 are provided, the two side pushing assemblies 6 are symmetrically distributed by taking a first hydraulic cylinder 402 as a center, and each side pushing assembly 6 comprises a knocking structure arranged on a cross rod 405 and a pushing plate structure arranged on a material preparation box 1; the push plate structure is including seting up the open slot on the feed preparation case 1 lateral wall, the appearance of open slot is cuboid shape and its length direction along upper and lower direction extension, be provided with side thrust rotating plate 601 in the open slot, the lower extreme rotation of side thrust rotating plate 601 is connected to the bottom in the open slot, the one end that is close to support 5 one side fixedly connected with arc guide bar 602 of side thrust rotating plate 601 upper end, the arc center of arc guide bar 602 is located the rotation center axis of side thrust rotating plate 601, the other end slip of arc guide bar 602 passes support 5 and fixedly connected with first dog 603, the outside nested second spring 604 that has of arc guide bar 602 that is located between first dog 603 and the support 5. The knocking structure comprises a third guide rod 607, one end of the third guide rod 607, which is close to the side pushing plate 601, is fixedly connected with the knocking block 605, the other end of the third guide rod 607 slides through the cross rod 405 and is fixedly connected with a second stop block 608, and a third spring 606 is nested outside the third guide rod 607 between the knocking block 605 and the cross rod 405. Through the above-mentioned specific structural design, when the vertical removal drive assembly 4 of horizontal migration drive assembly 3 drive and clamping jaw structure 2 are close to and are moved to the nearest distance along horizontal direction, the fixed striking structure that is provided with on horizontal pole 405 can tear the striking of contralateral thrust rotating plate 601 and hit, realizes contralateral thrust rotating plate 601 and rotates towards the inside of preparing box 1, and lateral thrust rotating plate 601 realizes rocking the promotion of preparing box 1 inside log, and lateral thrust rotating plate 601 strikes and can reset under the elastic force effect of second spring 604 after rotating can.
As shown in fig. 3 and 6 of the specification, the appearance of the material preparation box 1 is in a cuboid shape, a rod penetrating through groove for penetrating through the bottom support rod assembly 7 is formed in the lower side of the material preparation box 1, a storage cavity for storing logs is formed in the material preparation box 1, and the bottom of the material preparation box 1 is fixedly connected with the bottom support rod assembly 7 through an L-shaped positioning connecting plate. Through the specific structural design, the logs are stacked in the material preparation box 1, after the logs in the material preparation box 1 descend to a certain height, the logs are fed, and the logs in the material preparation box 1 can be automatically guided out in a rolling manner along the inclined sliding plate 702 from the discharge hole 1a, wherein the discharge hole 1a is formed between the upper side of the inclined sliding plate 702 and the top side of the penetrating rod through groove.
Working principle:
when the rotary cutting machine is used, logs needing rotary cutting are placed into the material preparation box 1 for standby storage, the logs in the material preparation box 1 roll out from the discharge hole 1a and roll to the arc-shaped baffle 706 along the inclined sliding plate 702 of the bottom material supporting rod assembly 7, wherein the inclined sliding plate 702 can be pushed by the second hydraulic cylinder 703 of the bottom material supporting rod assembly 7 to hinge and rotate under the support of the base 701, so that the logs in the material preparation box 1 can be vertically rocked, the logs are prevented from being blocked and overhead in the material preparation box 1, the horizontal movement driving assembly 3 can drive the vertical movement driving assembly 4 to horizontally move, the knocking structure arranged on the vertical movement driving assembly 4 can knock and push the side pushing plate 601 on the outer side wall of the material preparation box 1, the side pushing plate 601 can be reset under the action of the elastic force of the second spring 604, the logs in the material preparation box 1 are prevented from being blocked and overhead in the material preparation box 1, and the side pushing assembly 6 and the bottom material supporting rod assembly 7 can be kept continuous in the material preparation box 1;
when the log is fed, the push rods of the first electric telescopic rods 201 of the two clamping jaw structures 2 are stretched to each other, so that two clamping supporting blocks 202 are pushed to be close to two ends of the log to be abutted, the clamping supporting blocks 202 slide relative to the push rod head ends of the first electric telescopic rods 201 through telescopic holes 203 formed in the clamping supporting blocks, compression of the first springs 205 is achieved, when pressure sensor 204 is used for applying pressure to the pressure sensor 204 to be increased continuously, after the pressure value detected by the pressure sensor 204 reaches a certain value, the pressure sensor 204 transmits detected electric signals to the PLC 9, the PLC 9 controls the push rods of the first electric telescopic rods 201 to stop stretching, then the PLC 9 controls the push rods of the second electric telescopic rods 802 to stretch, so that a hanging hook 803 is pushed to stretch to the maximum stroke, the push rods of the third electric telescopic rods 804 stretch, so that the second electric telescopic rods 802 are driven to rotate to an axial vertical state, the hanging hook is placed on the log, the push rods 802 are retracted, the hanging hook 803 are driven to move upwards to be attached to the outer side walls of the log, under the driving of the moving driving assembly, the driving assembly is driven, the clamping jaw structures 2 are moved, then the clamping jaw structures are controlled to be separated from the log clamping jaw structures 8, and the log clamping jaw structures are separated from the log structures are controlled.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. Be used for log rotary-cut processing to use material loading manipulator, its characterized in that: the automatic feeding device comprises a material preparation box (1) and a PLC (programmable logic controller) controller (9) arranged on the material preparation box, wherein a bottom support material rod assembly (7) used for guiding out inner timber of the material preparation box in a rolling way and vibrating the inner timber in the vertical direction is arranged below the material preparation box (1), and a discharge hole (1 a) used for penetrating out of the bottom support material rod assembly (7) is formed in one side of the lower part of the material preparation box (1);
a clamping jaw structure (2) used for grabbing the log is arranged above one end of the collet bar assembly (7) penetrating out of the stock preparation box (1), and a log hook structure (8) used for hooking the bottom of the log during clamping is arranged on the clamping jaw structure (2);
a bracket (5) is fixedly arranged on one side, close to the clamping jaw structure (2), of the material preparation box (1), a movable driving assembly for driving the clamping jaw structure (2) to move in the up-down direction and the horizontal direction is arranged on the bracket (5), and a side pushing assembly (6) for vibrating the inner timber of the material preparation box (1) in the horizontal direction is arranged between the movable driving assembly and the material preparation box (1);
the clamping jaw structure (2) is provided with two clamping jaw structures which are symmetrically distributed by taking a collet rod assembly (7) as a center, each clamping jaw structure (2) comprises a first electric telescopic rod (201), push rod head ends of the two first electric telescopic rods (201) are opposite to each other and are fixedly connected with clamping supporting blocks (202), telescopic tunnels (203) which are used for matching push rod guiding sliding of the first electric telescopic rods (201) are formed in the clamping supporting blocks (202), pressure sensors (204) are fixedly arranged on inner end faces of the telescopic tunnels (203), first springs (205) are fixedly connected between the pressure sensors (204) and the push rod head ends of the first electric telescopic rods (201), anti-slip pads (206) are fixedly arranged on one sides, far away from the first electric telescopic rods (201), of the clamping supporting blocks (202), and output ends of the PLC (9) are electrically connected to input ends of the first electric telescopic rods (201), and output ends of the pressure sensors (204) are electrically connected to input ends of the PLC (9);
the movable driving assembly comprises a vertical movable driving assembly (4), the vertical movable driving assembly (4) comprises a cross rod (405), a first hydraulic cylinder (402) is fixedly arranged in the middle of the upper side of the cross rod (405), a top plate (401) is fixedly connected to the head end of a push rod of the first hydraulic cylinder (402), second guide rods (404) are fixedly connected to the lower sides of the two ends of the top plate (401), the lower ends of the two second guide rods (404) are respectively and fixedly connected to first electric telescopic rods (201) of the two clamping jaw structures (2), lugs (403) are fixedly arranged at the two ends of the cross rod (405), the two lugs (403) and the two second guide rods (404) are in one-to-one correspondence with each other, second guide sliding holes for sliding through the second guide rods (404) are formed in the lugs (403), and the output end of the PLC (9) is electrically connected to the input end of the first hydraulic cylinder (402);
the log couple structure (8) includes crossbeam (801), and the downside at crossbeam (405) is fixed to the both ends of crossbeam (801), the middle part position of crossbeam (801) articulates there is second electric telescopic handle (802), and the push rod head end of second electric telescopic handle (802) is down and fixedly connected with and is hanging material hook (803) of J type, one side that crossbeam (801) is close to second electric telescopic handle (802) articulates there is third electric telescopic handle (804), and the push rod head end of third electric telescopic handle (804) articulates each other with the tail end of second electric telescopic handle (802), the output of PLC controller (9) is electrically connected to the input of second electric telescopic handle (802) and third electric telescopic handle (804) respectively.
2. The feeding manipulator for log rotary-cut processing according to claim 1, wherein: the utility model provides a collet stock pole subassembly (7) include base (701) of appearance U type, the U type opening both ends upside of base (701) all articulates the one end that has slope slide flitch (702) through articulated shaft (705), fixedly connected with back shaft (704) between the other end downside of two slope slide flitch (702), be provided with second pneumatic cylinder (703) between base (701) and back shaft (704), the push rod head end fixedly connected with rotary drum of second pneumatic cylinder (703), the rotary drum rotates the middle part outside that sets up in back shaft (704), the tail end of second pneumatic cylinder (703) articulates the upside of base (701) through articulated seat, the one end upside fixedly connected with arc striker plate (706) that is close to articulated shaft (705) of slope slide flitch (702), when the push rod of second pneumatic cylinder (703) reaches minimum stroke, slope slide flitch (702) is from high to low along the direction from far to near, and inclination is 5, the output of controller (9) is connected to second pneumatic cylinder (703) of electric input end PLC.
3. The feeding manipulator for log rotary-cut processing according to claim 1, wherein: the movable driving assembly further comprises a horizontal movable driving assembly (3), the horizontal movable driving assembly (3) comprises a screw rod (304), one end of the screw rod (304) is driven to rotate by a motor (303) fixedly arranged on the outer side wall of the material preparation box (1), the other end of the screw rod (304) is rotationally connected to the support (5), more than two groups of first guide rods (301) which are symmetrically distributed with the screw rod (304) as a center are arranged on two sides of the screw rod (304), one end of each first guide rod (301) is fixedly connected to the support (5), the other ends of each first guide rod (301) are fixedly connected with each other through a fixing plate (302), the fixing plates (302) are fixedly connected to the outer side wall of the material preparation box (1) through bolts, nuts (305) are connected with cross rods (405) in a threaded mode, first guide sliding holes which are matched with the first guide rods (301) to slide are formed in a penetrating mode, and the two ends of each cross rod (405) are electrically connected to the input end of the motor (303).
4. The feeding manipulator for log rotary-cut processing according to claim 1, wherein: the two side pushing assemblies (6) are symmetrically distributed by taking the first hydraulic cylinder (402) as a center, and each side pushing assembly (6) comprises a knocking structure arranged on a cross rod (405) and a pushing plate structure arranged on the stock preparation box (1);
the push plate structure comprises an opening groove formed in the side wall of the material preparation box (1), the appearance of the opening groove is cuboid, the length direction of the opening groove extends along the upper and lower directions, a side pushing plate (601) is arranged in the opening groove, the lower end of the side pushing plate (601) is rotationally connected to the bottom in the opening groove, one end of an arc-shaped guide rod (602) is fixedly connected to the upper end of the side pushing plate (601) close to one side of the support (5), the arc center of the arc-shaped guide rod (602) is located on the rotation central axis of the side pushing plate (601), the other end of the arc-shaped guide rod (602) slides through the support (5) and is fixedly connected with a first stop block (603), and a second spring (604) is nested outside the arc-shaped guide rod (602) between the first stop block (603) and the support (5).
5. The feeding manipulator for log rotary-cut processing according to claim 4, wherein: the knocking structure comprises a third guide rod (607), one end, close to the side pushing rotating plate (601), of the third guide rod (607) is fixedly connected with a knocking block (605), the other end of the third guide rod (607) penetrates through the transverse rod (405) in a sliding mode and is fixedly connected with a second stop block (608), and a third spring (606) is nested outside the third guide rod (607) and located between the knocking block (605) and the transverse rod (405).
6. The feeding manipulator for log rotary-cut processing according to claim 1, wherein: the appearance of the material preparation box (1) is in a cuboid shape, a through rod through groove for penetrating through the bottom support material rod assembly (7) is formed in the lower side of the material preparation box (1), a storage cavity for storing logs is formed in the material preparation box (1), and the bottom of the material preparation box (1) is fixedly connected with the bottom support material rod assembly (7) through an L-shaped positioning connecting plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310348792.0A CN116119341B (en) | 2023-04-04 | 2023-04-04 | Be used for log rotary-cut processing to use material loading manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310348792.0A CN116119341B (en) | 2023-04-04 | 2023-04-04 | Be used for log rotary-cut processing to use material loading manipulator |
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| CN116119341B true CN116119341B (en) | 2023-06-27 |
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| CN117621131B (en) * | 2024-01-25 | 2024-04-09 | 安徽农业大学 | Loading manipulator and method for solid wood rotary cutting processing |
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| JP2728771B2 (en) * | 1990-08-30 | 1998-03-18 | 鐘紡株式会社 | Inner tube feeder |
| FR2697006B1 (en) * | 1992-10-19 | 1995-01-06 | Newtec Int | Grapple for handling loads, such as bags, and palletizer comprising such a grapple. |
| JP2002104649A (en) * | 2000-09-26 | 2002-04-10 | Ibiden Co Ltd | Rod-like body supplying feeder and method for supplying rod-form body |
| JP3668118B2 (en) * | 2000-09-26 | 2005-07-06 | 株式会社栗本鐵工所 | Defective pipe sorting device |
| CN103144943B (en) * | 2013-03-04 | 2015-07-01 | 长江大学 | Novel feeding equipment for oil pipe cleaning production line |
| CN210236374U (en) * | 2019-05-29 | 2020-04-03 | 邸红波 | Clamping and feeding device for pipe fitting machining |
| CN210312589U (en) * | 2019-08-20 | 2020-04-14 | 武汉市华康新型建材有限责任公司 | Tubular product raw materials feed mechanism |
| CN211971557U (en) * | 2020-04-21 | 2020-11-20 | 奥普迪姆机器人自动化(苏州)有限公司 | Automatic clamping device of high temperature foundry goods robot |
| CN112372711A (en) * | 2020-10-10 | 2021-02-19 | 株洲宏大高分子材料有限公司 | Method and device for feeding and discharging high-molecular pipe and bar materials |
| CN216154936U (en) * | 2021-09-10 | 2022-04-01 | 南华大学 | Timber clamping assembly of timber transfer robot |
| CN217322327U (en) * | 2022-04-25 | 2022-08-30 | 诺高工业(武汉)有限公司 | Household electrical appliances are retrieved helping hand arm tongs |
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