阅读说明：本技术 一种竹材机械手刨片设备 (Bamboo mechanical hand slicing equipment ) 是由 刘胜发 徐梓芬 于 2021-07-07 设计创作，主要内容包括：本发明公开了一种竹材机械手刨片设备,包括：设置于输送支架上两条输送带；沿输送带运行方向设置有刨片装置和进料机械手；进料机械手设置于所述输送带上方,机械手底座设置于输送支架上,机械手底座上设置有左右旋转电机,左右旋转电机驱动机械手支架水平转动,上下旋转电机设置于所述机械手支架上,上下旋转电机通过机械臂驱动机械爪上下运动,机械爪上设置有抓取气缸,抓取气缸通过抓取连杆驱动抓取爪的开合；刨片装置;控制装置。本发明的设备适用于竹材定向结构刨花板生产线作为备料设备,可生产各种尺寸的竹板材,应用广泛。本机结构合理,自动化高,不用人工运作,电控操作,生产能力高,安全性强,维修简单。(The invention discloses a bamboo mechanical hand slicing device, which comprises: two conveyer belts arranged on the conveying bracket; a slicing device and a feeding manipulator are arranged along the running direction of the conveying belt; the feeding manipulator is arranged above the conveying belt, the manipulator base is arranged on the conveying support, a left rotating motor and a right rotating motor are arranged on the manipulator base, the left rotating motor and the right rotating motor drive the manipulator support to horizontally rotate, an up-down rotating motor is arranged on the manipulator support, the up-down rotating motor drives the mechanical claw to move up and down through the mechanical arm, a grabbing cylinder is arranged on the mechanical claw, and the grabbing cylinder drives the grabbing claw to open and close through a grabbing connecting rod; a slicing device and a control device. The equipment is suitable for the production line of the bamboo oriented structure shaving board as material preparation equipment, can produce bamboo boards with various sizes, and is widely applied. The machine has the advantages of reasonable structure, high automation, no need of manual operation, electric control operation, high production capacity, strong safety and simple maintenance.)

1. The utility model provides a bamboo timber manipulator flaking equipment which characterized in that includes:

the two conveying belts are arranged on the conveying support and driven by a conveying motor;

a slicing device and a feeding manipulator are arranged along the running direction of the conveying belt;

the feeding manipulator is arranged above the conveying belt, the manipulator base is arranged on the conveying support, a left rotating motor and a right rotating motor are arranged on the manipulator base, the left rotating motor and the right rotating motor drive the manipulator support to horizontally rotate, an up-down rotating motor is arranged on the manipulator support, the up-down rotating motor drives the mechanical claw to vertically move through the mechanical arm, a grabbing cylinder is arranged on the mechanical claw, and the grabbing cylinder drives the grabbing claw to open and close through a grabbing connecting rod;

the slicing device is arranged in the movement range of the feeding manipulator, the two feeding frames are arranged on the slicing machine base and are respectively positioned at two sides of the conveying belt, and a bamboo green collecting and bamboo chip discharging groove is formed in the slicing machine base;

and the control device is in signal connection with the conveying belt, the feeding mechanical arm and the slicing device.

2. The bamboo manipulator chipper apparatus of claim 1, wherein the two belts are 125 ° in size and speed.

3. The bamboo manipulator slicing apparatus as claimed in claim 2, wherein a light detector is further provided in front of the slicing device, the light detector being provided on the conveying support, comprising: the base is arranged on the conveying bracket; the base is provided with a rotating shaft, and the direction of the rotating shaft is parallel to the direction of the conveying belt; swing arms are arranged at two ends of the rotating shaft; one of the swing arms is provided with a light measuring emitter, and the other swing arm is provided with a light measuring receiver; the optical measurement emitter and the optical measurement receiver are arranged on the same shaft; the optical measurement motor is arranged on the upper part of the optical detector; the optical measurement motor drives the swinging connecting rod to rotate; the swing connecting rod enables the swing arm to reciprocate through the connecting rod; a proximity switch is arranged above the swinging connecting rod; and the optical measurement sensor is arranged above the conveying belt.

4. The bamboo manipulator chipping device according to claim 1, wherein the gripper is connected to the manipulator support through an adjustable link; the adjustable connecting rod is provided with a lifting cylinder, and the lifting cylinder drives the adjustable connecting rod to control the mechanical claw to be vertical to the conveying belt.

5. The bamboo manipulator chipper apparatus of claim 1, wherein the feed rack comprises: the main pressing cylinder is used for pressing the bamboo tube for planing; and the pressing plate cylinder enables the pressing plate to extend into or withdraw from the bamboo tube seat for feeding materials.

6. The bamboo manipulator chipper apparatus of claim 1, wherein the control device is a PLC.

7. The bamboo manipulator chipping device according to claim 4, wherein the left and right rotating motors are provided with a left proximity switch and a right proximity switch; the upper and lower rotating motors are provided with an upper proximity switch and a lower proximity switch; two ends and the middle of the lifting cylinder are provided with 3 magnetic induction sensors; and magnetic induction sensors are arranged at two ends of the grabbing cylinder.

8. The bamboo manipulator chipping device according to claim 5, wherein magnetic induction sensors are provided at both ends of the main pressure cylinder, and magnetic induction sensors are provided at both ends of the pressure plate cylinder.

9. A control method based on the bamboo mechanical arm slicing equipment is characterized by comprising the following steps:

the conveying control is used for controlling the speed of the conveying motor, controlling the optical measurement motor to rotate after receiving a signal of the optical measurement sensor, controlling the optical measurement motor to stop after receiving the optical measurement proximity switch, and in the running process of the optical measurement motor, the optical measurement transmitter can transmit laser to detect the bamboo tube, and if the optical measurement light receiver does not receive the laser, the detected bamboo tube is provided with bamboo joints; on the contrary, the optical measurement light receiver receives the laser, which indicates that the bamboo tube is endless;

feeding control, the electromagnetic valve of the lifting cylinder opens the air supply to reach the position of the magnetic induction sensor when the air supply extends out, the electromagnetic valve is controlled to close the air supply, the mechanical arm is kept at the lower position, the upper and lower rotating motors drive the rotating head to rotate backwards in the process, the rotating head reaches the position close to the switch under the upper and lower rotating motors, the adjustable connecting rod connected by the rotating head drives the grabbing head to move backwards during rotation to keep the grabbing mechanical arm in a state vertical to the conveyor belt machine, when the bamboo tube reaches a rear baffle of the grabbing hand, the electromagnetic valve of the grabbing cylinder of the mechanical arm opens the air supply to extend out, the electromagnetic valve of the grabbing cylinder downwardly reaches the position of the magnetic induction sensor under the grabbing cylinder, the electromagnetic valve of the grabbing cylinder closes the air supply to stop, the electromagnetic valve of the lifting cylinder opens the air supply to retract, the magnetic induction sensor on the grabbing cylinder is reached, the electromagnetic valve of the lifting cylinder closes the air supply to stop, the lifting cylinder keeps at the middle position, and simultaneously the upper and lower rotating motors drive the rotating head to rotate forwards, when the magnetic induction type automatic picking machine reaches the middle position, an adjustable connecting rod connected by a rotating head drives a picking head to move forwards during rotation, the picking manipulator is kept in a state of being perpendicular to a conveyor belt machine, a left rotating motor and a right rotating motor control to move leftwards or rightwards and reach the position of a left proximity switch or a right proximity switch, two bamboo barrel seats of the slicing machine are arranged right below the two picking manipulators, signals detected by the left proximity switch or the right proximity switch are received, an electromagnetic valve of a picking cylinder is opened to supply air and retract to the position of a magnetic induction sensor on the cylinder, the electromagnetic valve of the picking cylinder is closed to supply air, the left rotating motor and the right rotating motor move towards the middle and return to the starting position, meanwhile, the electromagnetic valve of a lifting cylinder is opened to supply air and retract to reach the position of the magnetic induction sensor on the lifting cylinder, the electromagnetic valve of the lifting cylinder is closed to supply air and stops supplying air, and the lifting cylinder is kept at the position of the magnetic induction sensor on the lifting cylinder; meanwhile, the upper and lower rotating motors act to drive the rotating head to rotate forwards to reach the position close to the switch on the upper and lower rotating motors, and the adjustable connecting rod connected with the rotating head drives the grabbing head to move forwards during rotation, so that the grabbing manipulator is kept in a state of being vertical to the conveyer belt machine;

the method comprises the following steps that (1) slicing control is performed, materials enter, an electromagnetic valve of a pressing plate air cylinder is opened to supply air and retract, the electromagnetic valve of the pressing plate air cylinder reaches the position where the pressing plate air cylinder retracts into a magnetic induction sensor, the electromagnetic valve of the pressing plate air cylinder closes air supply, the electromagnetic valve of the pressing plate air cylinder opens air supply to extend out, the electromagnetic valve of the pressing plate air cylinder reaches the position where the pressing plate air cylinder extends out of the magnetic induction sensor, and the electromagnetic valve of the pressing plate air cylinder closes air supply; and (3) material planing, opening an electromagnetic valve of a main pressure cylinder to enable air supply to extend out, reaching the position of the main pressure cylinder extending out of a proximity switch, closing the air supply by the electromagnetic valve of the main pressure cylinder, opening the air supply to retract to reach the position of the main pressure cylinder retracting proximity switch, and closing the air supply by the electromagnetic valve of the main pressure cylinder.

Technical Field

The invention relates to the field of bamboo processing, in particular to bamboo mechanical hand slicing equipment.

Background

The oriented structure shaving board is made by overlapping and pressing various chopped materials in a staggered way. Has been generally applied in Europe and America. The oriented strand board is a material with good mechanical properties, making it particularly suitable for load-bearing applications in buildings. Under the condition of lacking forestry resources in China, people need to increase the application of bamboo wood. The bamboo wood is used as the raw material of the bamboo oriented structure shaving board, and the design structure of the bamboo oriented structure shaving board needs to be improved to the requirements of simplicity, easy operation and high automation in slicing equipment.

Disclosure of Invention

Objects of the invention

The invention aims to provide bamboo mechanical arm slicing equipment, solves the problem that bamboo chips or wood chips are efficiently sliced for manufacturing a bamboo structural plate, and provides a safe, reliable and automatic mechanical arm slicing machine.

(II) technical scheme

In order to solve the above problems, a first aspect of the present invention provides a bamboo manipulator slicing apparatus, comprising: the two conveying belts are arranged on the conveying support and driven by a conveying motor and used for conveying materials; a slicing device and a feeding manipulator are arranged along the running direction of the conveying belt; the feeding manipulator is arranged above the conveying belt and used for grabbing materials conveyed by the conveying belt, the manipulator base is arranged on the conveying support and provided with a left rotating motor and a right rotating motor, the left rotating motor and the right rotating motor drive the manipulator support to horizontally rotate, the up-down rotating motor is arranged on the manipulator support and drives the mechanical claw to move up and down through the mechanical arm, the mechanical claw is provided with a grabbing cylinder, and the grabbing cylinder drives the grabbing claw to open and close through a grabbing connecting rod; the slicing device is arranged in the movement range of the feeding manipulator, the two feeding frames are arranged on the slicing machine base and are respectively positioned at two sides of the conveying belt, and the slicing machine base is provided with a bamboo green collecting and bamboo chip discharging groove for slicing materials sent by the feeding manipulator; and the control device is in signal connection with the conveying belt, the feeding mechanical arm and the slicing device and is used for controlling the conveying belt, the feeding mechanical arm and the slicing device.

Further, the two belts are 125 ° in size and speed.

Further, still be provided with the light detector before the flaking device, the light detector sets up on transport support, includes: the base is arranged on the conveying bracket; the base is provided with a rotating shaft, and the direction of the rotating shaft is parallel to the direction of the conveying belt; swing arms are arranged at two ends of the rotating shaft; one of the swing arms is provided with a light measuring emitter, and the other swing arm is provided with a light measuring receiver; the optical measurement emitter and the optical measurement receiver are arranged on the same shaft; the optical measurement motor is arranged on the upper part of the optical detector; the optical measurement motor drives the swinging connecting rod to rotate; the swing connecting rod enables the swing arm to reciprocate through the connecting rod; a proximity switch is arranged above the swinging connecting rod; and the optical measurement sensor is arranged above the conveying belt.

Furthermore, the mechanical claw is connected with the mechanical arm bracket through an adjustable connecting rod; the adjustable connecting rod is provided with a lifting cylinder, and the lifting cylinder drives the adjustable connecting rod to control the mechanical claw to be vertical to the conveying belt.

Further, pan feeding frame includes: the main pressing cylinder is used for pressing the bamboo tube for planing; and the pressing plate cylinder enables the pressing plate to extend into or withdraw from the bamboo tube seat for feeding materials.

Further, the control device is a PLC.

Further, the left and right rotating electrical machines are provided with a left proximity switch and a right proximity switch; the upper and lower rotating motors are provided with an upper proximity switch and a lower proximity switch; two ends and the middle of the lifting cylinder are provided with 3 magnetic induction sensors; and magnetic induction sensors are arranged at two ends of the grabbing cylinder.

Furthermore, magnetic induction sensors are arranged at two ends of the main pressure cylinder, and magnetic induction sensors are arranged at two ends of the pressure plate cylinder.

According to another aspect of the invention, a control method based on the bamboo manipulator slicing device is characterized by comprising the following steps: the conveying control is used for controlling the speed of the conveying motor, controlling the optical measurement motor to rotate after receiving a signal of the optical measurement sensor, controlling the optical measurement motor to stop after receiving the optical measurement proximity switch, and in the running process of the optical measurement motor, the optical measurement transmitter can transmit laser to detect the bamboo tube, and if the optical measurement light receiver does not receive the laser, the detected bamboo tube is provided with bamboo joints; on the contrary, the optical measurement light receiver receives the laser, which indicates that the bamboo tube is endless; feeding control, the electromagnetic valve of the lifting cylinder opens the air supply to reach the position of the magnetic induction sensor when the air supply extends out, the electromagnetic valve is controlled to close the air supply, the mechanical arm is kept at the lower position, the upper and lower rotating motors drive the rotating head to rotate backwards in the process, the rotating head reaches the position close to the switch under the upper and lower rotating motors, the adjustable connecting rod connected by the rotating head drives the grabbing head to move backwards during rotation to keep the grabbing mechanical arm in a state vertical to the conveyor belt machine, when the bamboo tube reaches a rear baffle of the grabbing hand, the electromagnetic valve of the grabbing cylinder of the mechanical arm opens the air supply to extend out, the electromagnetic valve of the grabbing cylinder downwardly reaches the position of the magnetic induction sensor under the grabbing cylinder, the electromagnetic valve of the grabbing cylinder closes the air supply to stop, the electromagnetic valve of the lifting cylinder opens the air supply to retract, the magnetic induction sensor on the grabbing cylinder is reached, the electromagnetic valve of the lifting cylinder closes the air supply to stop, the lifting cylinder keeps at the middle position, and simultaneously the upper and lower rotating motors drive the rotating head to rotate forwards, when the magnetic induction type automatic picking machine reaches the middle position, an adjustable connecting rod connected by a rotating head drives a picking head to move forwards during rotation, the picking manipulator is kept in a state of being perpendicular to a conveyor belt machine, a left rotating motor and a right rotating motor control to move leftwards or rightwards and reach the position of a left proximity switch or a right proximity switch, two bamboo barrel seats of the slicing machine are arranged right below the two picking manipulators, signals detected by the left proximity switch or the right proximity switch are received, an electromagnetic valve of a picking cylinder is opened to supply air and retract to the position of a magnetic induction sensor on the cylinder, the electromagnetic valve of the picking cylinder is closed to supply air, the left rotating motor and the right rotating motor move towards the middle and return to the starting position, meanwhile, the electromagnetic valve of a lifting cylinder is opened to supply air and retract to reach the position of the magnetic induction sensor on the lifting cylinder, the electromagnetic valve of the lifting cylinder is closed to supply air and stops supplying air, and the lifting cylinder is kept at the position of the magnetic induction sensor on the lifting cylinder; meanwhile, the upper and lower rotating motors act to drive the rotating head to rotate forwards to reach the position close to the switch on the upper and lower rotating motors, and the adjustable connecting rod connected with the rotating head drives the grabbing head to move forwards during rotation, so that the grabbing manipulator is kept in a state of being vertical to the conveyer belt machine; the method comprises the following steps that (1) slicing control is performed, materials enter, an electromagnetic valve of a pressing plate air cylinder is opened to supply air and retract, the electromagnetic valve of the pressing plate air cylinder reaches the position where the pressing plate air cylinder retracts into a magnetic induction sensor, the electromagnetic valve of the pressing plate air cylinder closes air supply, the electromagnetic valve of the pressing plate air cylinder opens air supply to extend out, the electromagnetic valve of the pressing plate air cylinder reaches the position where the pressing plate air cylinder extends out of the magnetic induction sensor, and the electromagnetic valve of the pressing plate air cylinder closes air supply; and (3) material planing, opening an electromagnetic valve of a main pressure cylinder to enable air supply to extend out, reaching the position of the main pressure cylinder extending out of a proximity switch, closing the air supply by the electromagnetic valve of the main pressure cylinder, opening the air supply to retract to reach the position of the main pressure cylinder retracting proximity switch, and closing the air supply by the electromagnetic valve of the main pressure cylinder.

(III) advantageous effects

The technical scheme of the invention has the following beneficial technical effects: the device is suitable for a bamboo oriented structure shaving board production line as material preparation equipment, can also be used for producing bamboo boards of various sizes, and is wide in application. The machine has the advantages of reasonable structure, high automation, no need of manual operation, electric control operation, high production capacity, strong safety and simple maintenance.

Drawings

FIG. 1 is a schematic structural view of a bamboo mechanical arm slicing device;

FIG. 2 is a cross-sectional view of a photodetector;

FIG. 3 is a diagram of a photodetector structure;

FIG. 4 is a view of the feed robot;

FIG. 5 is a view showing the configuration of the feed robot during gripping;

FIG. 6 is a block diagram of the flaking apparatus;

fig. 7 is a schematic structural view of a bamboo wood mechanical hand slicing device provided with two slicing devices.

Reference numerals:

1: a conveyor belt; 2: a feeding manipulator; 3: a flaking device; 4: a photodetector; 11: a delivery stent; 12: a conveying motor; 21: a manipulator support; 22: an up-down rotating motor; 23: a left and right rotating motor; 24: a lifting cylinder; 25: a grabbing cylinder; 26: a magnetic induction sensor; 27: a proximity switch; 31: a main pressure cylinder; 32: a platen cylinder; 33: a flaking machine base; 34: collecting the green bamboos; 35: a bamboo chip discharging groove; 36: a magnetic induction sensor; 37: a proximity switch; 41: a light measuring sensor; 42: a photometric proximity switch; 43: a photometric transmitter; 44: a light measuring and receiving device; 45: a photometric motor; 46: and a swinging connecting rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1, the present invention provides a bamboo manipulator slicing apparatus, comprising: the two conveying belts are arranged on the conveying support and driven by a conveying motor and used for conveying materials; a slicing device and a feeding manipulator are arranged along the running direction of the conveying belt; the feeding manipulator is arranged above the conveying belt and used for grabbing materials conveyed by the conveying belt, the manipulator base is arranged on the conveying support and provided with a left rotating motor and a right rotating motor, the left rotating motor and the right rotating motor drive the manipulator support to horizontally rotate, the up-down rotating motor is arranged on the manipulator support and drives the mechanical claw to move up and down through the mechanical arm, the mechanical claw is provided with a grabbing cylinder, and the grabbing cylinder drives the grabbing claw to open and close through a grabbing connecting rod; the slicing device is arranged in the movement range of the feeding manipulator, the two feeding frames are arranged on the slicing machine base and are respectively positioned at two sides of the conveying belt, and the slicing machine base is provided with a bamboo green collecting and bamboo chip discharging groove for slicing materials sent by the feeding manipulator; and the control device is in signal connection with the conveying belt, the feeding mechanical arm and the slicing device and is used for controlling the conveying belt, the feeding mechanical arm and the slicing device.

As shown in fig. 2 and 3, the two belts are 125 ° in size and speed. The bamboo tube conveying is composed of two conveying belts with the same design size and speed and forming an included angle of 125 degrees. The conveying motors of the two conveying belts are internally provided with rotary encoders, and signals are input into the control device, so that the speed is easy to control and adjust. The adjustment speed is adjusted on a human-machine interface of the control device. When the bamboo tubes are conveyed on the conveying belt, the speed is adjusted to ensure that the bamboo tubes are separated by a certain distance. Because the belt conveyor is formed by 125-degree included angles, the middle part is lower, the bamboo tube is always positioned in the middle to run, and the problem of different diameters of the bamboo tube is effectively solved. The length of the belt conveyer is determined according to two or more shaving devices which are installed identically.

Preferably, a light detector is further arranged in front of the flaking device, and the light detector is arranged on the conveying support and comprises: the base is arranged on the conveying bracket; the base is provided with a rotating shaft, and the direction of the rotating shaft is parallel to the direction of the conveying belt; swing arms are arranged at two ends of the rotating shaft; one of the swing arms is provided with a light measuring emitter, and the other swing arm is provided with a light measuring receiver; the optical measurement emitter and the optical measurement receiver are arranged on the same shaft; the optical measurement motor is arranged on the upper part of the optical detector; the optical measurement motor drives the swinging connecting rod to rotate; the swing connecting rod enables the swing arm to reciprocate through the connecting rod; a proximity switch is arranged above the swinging connecting rod; and the optical measurement sensor is arranged above the conveying belt. The material travels on the conveyor belt to the position of the photometric sensor. The optical measurement sensor transmits a signal to the control device, and the control device controls the operation of the optical measurement motor. The built-in rotary encoder of photometric motor and braking system. The optical measurement proximity switch detects a swinging connecting rod connected behind the optical measurement motor. When the control device controls the photometric motor to rotate once, the photometric motor is detected by the photometric proximity switch, and the photometric proximity switch stops at the detection position. The swinging connecting rod connected behind the optical measurement motor also rotates for one circle to drive the optical measurement emitter and the optical measurement receiver which are arranged on the same shaft, and simultaneously swings down and up once. In the swinging process, the optical measurement emitter can emit laser, and if the optical measurement light receiver does not receive the laser, the bamboo tube to be detected is bamboo joint-bearing; on the contrary, the optical measuring and light receiving device receives the laser, which indicates that the bamboo tube is untwisted. The optical measurement light receiver can feed back signals to the control device, and the control device controls the manipulator to grab the same bamboo tube.

As shown in fig. 4 and 5, the gripper is connected with the manipulator support through an adjustable link; the adjustable connecting rod is provided with a lifting cylinder, and the lifting cylinder drives the adjustable connecting rod to control the mechanical claw to be vertical to the conveying belt. The left and right rotating motors are provided with a left proximity switch and a right proximity switch; the upper and lower rotating motors are provided with an upper proximity switch and a lower proximity switch; two ends and the middle of the lifting cylinder are provided with 3 magnetic induction sensors; and magnetic induction sensors are arranged at two ends of the grabbing cylinder. The manipulator receives the grabbing signal of the control device, the lifting cylinder opens the air supply through the electromagnetic valve controlled by the control device, the air supply reaches the position of the magnetic induction sensor when the lifting cylinder extends out, the electromagnetic valve controlled by the control device closes the air supply, and the manipulator is kept at the lower position. The upper and lower rotating motors drive the rotating head to rotate backwards in the process, the rotating head reaches the position of the proximity switch below the upper and lower rotating motors, and the adjustable connecting rod connected with the rotating head drives the grabbing head to move backwards during rotation, so that the grabbing manipulator is kept in a state of being perpendicular to the conveying belt machine.

When the bamboo tube reaches the rear baffle of the grabbing hand, the grabbing cylinder of the manipulator is opened by the electromagnetic valve controlled by the control device to supply air to extend out, and the air downwards reaches the position of the magnetic induction sensor below the grabbing cylinder; the electromagnetic valve controlled by the control device closes the air supply and stops. In the process, the bamboo tube is clamped by the three grippers connected with the gripping air cylinder.

The lifting cylinder is opened by an electromagnetic valve controlled by the control device to supply air and retract, the air supply reaches the position of the magnetic induction sensor on the grabbing cylinder, the electromagnetic valve controlled by the control device closes the air supply to stop, and the lifting cylinder is kept at the middle position. Meanwhile, the upper and lower rotating motors drive the rotating heads to rotate forwards to reach the middle position, and the adjustable connecting rods connected with the rotating heads drive the grabbing heads to move forwards during rotation, so that the grabbing manipulator is kept in a state of being vertical to the conveying belt machine. The left and right rotating motors are controlled by the control device to move leftwards or rightwards to reach the positions of the left proximity switch or the right proximity switch, and two bamboo tube seats of the slicing machine are arranged under the grabbing mechanical arm at the two positions. The left proximity switch or the right proximity switch feeds detected signals back to the control device, the electromagnetic valve of the grabbing cylinder controlled by the control device is opened to enable the air to be retracted to the position of the magnetic induction sensor on the grabbing cylinder, and the electromagnetic valve of the grabbing cylinder controlled by the control device is closed to enable the air to be supplied. In the process, the bamboo tube is loosened and falls into the upper part of the pressing plate in the bamboo tube seat by the three grabs connected with the grabbing cylinder.

A left and right rotating motors controlled by the control device to move to the middle and return to the starting position; meanwhile, the lifting cylinder is opened by an electromagnetic valve controlled by the control device to supply air and retract, the lifting cylinder reaches the position of the magnetic induction sensor on the lifting cylinder, the electromagnetic valve controlled by the control device closes the air supply to stop, and the lifting cylinder is kept at the position of the magnetic induction sensor on the lifting cylinder; and meanwhile, the upper and lower rotating motors act to drive the rotating head to rotate forwards to reach the positions of the proximity switches on the upper and lower rotating motors, and the adjustable connecting rod connected with the rotating head drives the grabbing head to act forwards during rotation, so that the grabbing manipulator is kept in a state of being vertical to the conveyer belt conveyor.

The above actions are controlled by the control device, and the material is repeatedly fed to the two bamboo tube seats of the slicing machine.

As shown in fig. 6, the feeding rack includes: the main pressing cylinder is used for pressing the bamboo tube for planing; and the pressing plate cylinder enables the pressing plate to extend into or withdraw from the bamboo tube seat for feeding materials. And magnetic induction sensors are arranged at two ends of the main pressure cylinder, and magnetic induction sensors are arranged at two ends of the pressure plate cylinder.

The conveyer belt is arranged between two bamboo tube seats of the slicing device, the front of the slicing device is provided with a light detector, and the back of the slicing device is provided with a manipulator bracket. After the cutter head in the base of the flaking machine is started to operate.

The air supply retraction is opened by the electromagnetic valve controlled by the control device to the pressure plate cylinder, the air supply is closed by the electromagnetic valve controlled by the control device, the pressure plate cylinder drives the corresponding pressure plate to retract, the pressure plate withdraws from the bamboo tube seat, and the bamboo tube on the pressure plate falls into the slicing machine. The air supply is opened by the solenoid valve of controlling means control to the clamp plate cylinder and is stretched out, reachs the clamp plate cylinder and stretches out the magnetic induction sensor position, and the air supply is closed to the solenoid valve of controlling means control, and this in-process, the clamp plate cylinder drives corresponding clamp plate and stretches out, and the clamp plate gets into the bamboo tube seat.

The main pressure cylinder is opened by the solenoid valve of controlling means control and supplies gas and stretches out, reaches main pressure cylinder and stretches out the proximity switch position, and the solenoid valve of controlling means control closes the air feed, and in this process, main pressure cylinder drives corresponding clamp plate pedestal and stretches out, pressurizes for the clamp plate and applys for the planing of thick bamboo tube. The main pressure cylinder is opened by the solenoid valve controlled by the control device to supply air and retract to reach the position of the main pressure cylinder retraction proximity switch, the solenoid valve controlled by the control device closes the air supply, and in the process, the main pressure cylinder drives the corresponding pressure plate base body to retract to return to the starting position.

The above actions are controlled by the control device to do repeated actions to finish the planing of the bamboo tube.

As shown in fig. 7, the bamboo manipulator chipper apparatus may be equipped with two identical photodetectors and chipper devices. Multiple photodetectors and flaking devices may also be installed.

Preferably, the control device is a PLC.

The invention provides a control method of bamboo mechanical hand slicing equipment, which comprises the following steps: the conveying control is used for controlling the speed of the conveying motor, controlling the optical measurement motor to rotate after receiving a signal of the optical measurement sensor, controlling the optical measurement motor to stop after receiving the optical measurement proximity switch, and in the running process of the optical measurement motor, the optical measurement transmitter can transmit laser to detect the bamboo tube, and if the optical measurement light receiver does not receive the laser, the detected bamboo tube is provided with bamboo joints; on the contrary, the optical measurement light receiver receives the laser, which indicates that the bamboo tube is endless; feeding control, the electromagnetic valve of the lifting cylinder opens the air supply to reach the position of the magnetic induction sensor when the air supply extends out, the electromagnetic valve is controlled to close the air supply, the mechanical arm is kept at the lower position, the upper and lower rotating motors drive the rotating head to rotate backwards in the process, the rotating head reaches the position close to the switch under the upper and lower rotating motors, the adjustable connecting rod connected by the rotating head drives the grabbing head to move backwards during rotation to keep the grabbing mechanical arm in a state vertical to the conveyor belt machine, when the bamboo tube reaches a rear baffle of the grabbing hand, the electromagnetic valve of the grabbing cylinder of the mechanical arm opens the air supply to extend out, the electromagnetic valve of the grabbing cylinder downwardly reaches the position of the magnetic induction sensor under the grabbing cylinder, the electromagnetic valve of the grabbing cylinder closes the air supply to stop, the electromagnetic valve of the lifting cylinder opens the air supply to retract, the magnetic induction sensor on the grabbing cylinder is reached, the electromagnetic valve of the lifting cylinder closes the air supply to stop, the lifting cylinder keeps at the middle position, and simultaneously the upper and lower rotating motors drive the rotating head to rotate forwards, when the magnetic induction type automatic picking machine reaches the middle position, an adjustable connecting rod connected by a rotating head drives a picking head to move forwards during rotation, the picking manipulator is kept in a state of being perpendicular to a conveyor belt machine, a left rotating motor and a right rotating motor control to move leftwards or rightwards and reach the position of a left proximity switch or a right proximity switch, two bamboo barrel seats of the slicing machine are arranged right below the two picking manipulators, signals detected by the left proximity switch or the right proximity switch are received, an electromagnetic valve of a picking cylinder is opened to supply air and retract to the position of a magnetic induction sensor on the cylinder, the electromagnetic valve of the picking cylinder is closed to supply air, the left rotating motor and the right rotating motor move towards the middle and return to the starting position, meanwhile, the electromagnetic valve of a lifting cylinder is opened to supply air and retract to reach the position of the magnetic induction sensor on the lifting cylinder, the electromagnetic valve of the lifting cylinder is closed to supply air and stops supplying air, and the lifting cylinder is kept at the position of the magnetic induction sensor on the lifting cylinder; meanwhile, the upper and lower rotating motors act to drive the rotating head to rotate forwards to reach the position close to the switch on the upper and lower rotating motors, and the adjustable connecting rod connected with the rotating head drives the grabbing head to move forwards during rotation, so that the grabbing manipulator is kept in a state of being vertical to the conveyer belt machine; the method comprises the following steps that (1) slicing control is performed, materials enter, an electromagnetic valve of a pressing plate air cylinder is opened to supply air and retract, the electromagnetic valve of the pressing plate air cylinder reaches the position where the pressing plate air cylinder retracts into a magnetic induction sensor, the electromagnetic valve of the pressing plate air cylinder closes air supply, the electromagnetic valve of the pressing plate air cylinder opens air supply to extend out, the electromagnetic valve of the pressing plate air cylinder reaches the position where the pressing plate air cylinder extends out of the magnetic induction sensor, and the electromagnetic valve of the pressing plate air cylinder closes air supply; and (3) material planing, opening an electromagnetic valve of a main pressure cylinder to enable air supply to extend out, reaching the position of the main pressure cylinder extending out of a proximity switch, closing the air supply by the electromagnetic valve of the main pressure cylinder, opening the air supply to retract to reach the position of the main pressure cylinder retracting proximity switch, and closing the air supply by the electromagnetic valve of the main pressure cylinder.

The length of the bamboo tube or wood planed and cut by the device is 80-300mm, the diameter is within 200mm, and the thickness of the planed and cut bamboo chips or wood chips is 0.5-2 mm.

The equipment of the invention is suitable for the production lines of bamboo or wood oriented structure shaving boards and various artificial boards as material preparation equipment. Can also be used as a single machine for specially producing bamboo chips or wood chips. The machine has compact and reasonable structure, simple and convenient operation, high production capacity, safety, reliability and convenient maintenance.