Study Of Intelligent Charging And Tool Changing Method Of Intelligent Bamboo-splitting Machine

China is the largest country of bamboo resources,and the bamboo processing industry is the characteristic industry of China.But at present,most of the bamboo-splitting machines used in the primary processing of bamboo are manual charging,manual centering and manual tool changing,which have the problems of low mechanization,high risk and high physical requirements for the operators.In view of the above problems,this paper designed an intelligent bamboo-splitting machine which can grasp intelligently and change tool automatically,and carried out the grasp test on its charging manipulator,and studied the method of changing tool on its tool changing mechanism.The main study contents and conclusions are as follows:(1)The model of intelligent bamboo-splitting machine was established.The intelligent bamboo-splitting machine is composed of two charging manipulators,a feeding mechanism,a frame,a pushing mechanism,an automatic tool changing mechanism,and a control system.(2)The design optimization method of the charging manipulator of the intelligent bamboo-splitting machine was studied.A kind of intelligent bamboo-splitting machine charging manipulator was studied.Firstly,the whole structure of manipulator was designed and determined according to the technical requirements of production.Then,the size parameters of the manipulator were optimized using the multivariable genetic algorithm,so that the actual working space and the expected working space of the manipulator coincide,and the structure length is minimized.The target space of the manipulator is simulated by stochastic probability Monte-Carlo algorithm to preliminarily verifying its characteristic.(3)The intelligent bamboo-splitting machine was developed.The pushing mechanism,the charging manipulator,the feeding mechanism,the frame,the automatic tool changing mechanism,and the control system were designed and developed,and the installation of the machine were completed.(4)The intelligent grasping test of charging manipulator was done.The grasping success rate and hearting rate of the charging manipulator of the intelligent bamboo-splitting machine were tested,and the dynamic characteristics of grasping were studied.During the study process,the manipulator with the length of 210 mm,220 mm and230 mm was developed and tested,Then,Accelerators were used to measure the dynamic characteristics and a high speed CCD was used to record the grasping process.The test results showed that grasping success rate of the manipulator with arm length=220mm is as high as 100%,but that of manipulators with arm length=210mm and 230 is 96% and98.67%,respectively.Thus,the manipulator with arm length=220mm can adaptable to bamboos blank of different diameters.The curve of the relation between the grasping time and the diameter of the embryo is similar to that of the exponential function.The curve of average acceleration embryo diameter is approximate to the curve of power function.(5)The tool changing strategy and the control method of tool changing of the intelligent bamboo-splitting machine were studied.The tool changing strategy: according to the diameter of the bamboo material group,through three tools to complete the cutting of each material in the group.For example: bamboo material with diameter of 58-85 mm,use 6blades,7 blades,and 8 blades.The control method: The approach switch was used to control the tool changing logic,which ensured the accuracy of tool changing,and the servo system was used to realize the precise position positioning.The study results designed an intelligent bamboo-splitting machine which can grasp intelligently and change tool automatically,which greatly reduces the labor intensity of workers,improves the efficiency of bamboo splitting,and lays a foundation for the intellectualization of bamboo machinery.