A structure of a rubber plate stacking manipulator unloading controller and a control method thereof

Abstract

The present application provides a kind of glue board stacking manipulator unloading controller structure, including manipulator body and manipulator unloading controller;Wherein unloading controller is arrayed and installed with the two sides of manipulator body, and manipulator unloading controller includes finger control board, finger controller guide slot, finger control board guide slot, hook-shaped clip, rotating finger, clip seat;Wherein control board is installed with tension spring, so that it has the tendency of downward movement, and hook-shaped clip is installed with torsion spring, so that it has the tendency of approaching finger control board;In the finger control board guide slot, finger controller guide slot is provided;Wherein the side wall of finger control board guide slot is fixed by clip seat, and hook-shaped clamping jaw is rotatably arranged on clip seat;The short arm portion of rotating finger is fixed on the side wall of the lower part of control board of finger control board.The whole mechanical structure is low in cost, low in failure rate, long in service life, realizes the full-automatic control of glue stacking.

Description

Technical Field

[0001] This invention relates to fields such as industrial automation and machinery manufacturing, specifically to the structure and control method of a controller for unloading a plastic sheet stacking robot. Background Technology

[0002] The existing raw rubber production line includes a raw rubber cutting station, a stacking station, a weighing and handling station, and a stacking station (not shown). The production line is staffed with two able-bodied workers. The raw rubber cutting machine cuts continuous raw rubber strips into small pieces ranging from 450mm to 300mm. The rubber stacks are layered. The bottom stacks are placed on wooden pallets for easy forklift handling. Each layer contains eight stacks, each weighing 35 kg, for a total of 280 kg per layer, arranged in a crisscross pattern. Each layer is covered with a plastic sheet to ensure stability and prevent collapse.

[0003] From the perspective of stacking process characteristics, the stacking station is characterized by high working frequency, requiring workers to continuously stack the rubber sheets, while the amount of physical labor per operation is relatively small. The weighing and handling station is characterized by low working frequency, but requires higher physical exertion per operation. Due to these characteristics, the raw rubber sheet cutting production line needs to be staffed with two strong workers. Adopting a workstation rotation system may allow workers some rest time, alleviating the labor intensity of the production staff.

[0004] Although cutting the rubber sheets is the main process in rubber sheet production and has been mechanized, stacking and handling the rubber sheets are auxiliary production processes. These two processes are characterized by the lack of specialized equipment support, low technical content of the jobs, high labor intensity, low substitutability of personnel, and complex movements, making them difficult to automate.

[0005] However, current mainstream plastic sheet stacking robots are mainly controlled by servo motors, which suffers from high cost, short lifespan, and high failure rate. To control costs and solve these problems, this invention designs an unloading controller for a plastic sheet stacking robot composed entirely of mechanical structures. Summary of the Invention

[0006] To address the aforementioned problems, this invention discloses the structure and control method of a glue stacking robot unloading controller. It features a fully mechanical structure, low cost, low failure rate, and long service life, achieving fully automatic control of glue stacking.

[0007] A structure for unloading a plastic sheet stacking robot includes a robot body and an unloading controller. The unloading controller is arranged in an array on both sides of the robot body. The unloading controller includes a finger control plate, a finger controller guide groove, a finger control plate guide groove, a hook-shaped clamp, a rotating finger, and a clamp seat. The control plate is equipped with a tension spring, which tends to move downwards. The hook-shaped clamp is equipped with a torsion spring, which tends to move towards the finger control plate. The finger control plate guide groove is provided in the middle finger control plate guide groove. The clamp seat fixes the side wall of the finger control plate guide groove, and the hook-shaped clamp is rotatably mounted on the clamp seat. The short arm of the rotating finger is fixed to the side wall of the lower part of the control plate of the finger control plate.

[0008] Furthermore, the finger control plate includes an upper control plate and a lower control plate; wherein the thickness of the upper control plate is greater than the thickness of the lower control plate; the lower end of the lower control plate is provided with a rectangular release hole; the lower control plate is set in the finger control plate guide groove, and the side of the connection end of the upper and lower control plates is provided with a side groove, which can cooperate with the hook-shaped clip in the unloaded state to prevent the finger control plate from falling; the release hole can be aligned with the short arm part of the rotating finger in the unloaded state, allowing the rotating finger to rotate counterclockwise, thereby completing the unloading.

[0009] Furthermore, the lower left and right sides of the hook-shaped clip are respectively provided with a right-side inclined surface and a left-side inclined surface; the center end of the hook-shaped clip is provided with a round hole; the round hole is assembled on the clip seat by a screw; wherein the hook at the top of the hook-shaped clip cooperates with the side groove of the finger control plate; the lower end of the hook is inclined, allowing the finger controller to move upward relative to the hook-shaped clip during unloading; the upper end of the hook is straight, preventing the finger control plate from falling during unloading.

[0010] Furthermore, the rotating finger includes a short arm portion, a circular hole, and a long arm portion; wherein the upper circular hole is fixed to the finger control plate through a finger shaft; the rotating finger rotates around the circular hole; wherein the long arm portion contacts the glue stack and bears the weight of the glue stack, and the short arm portion contacts the finger control plate.

[0011] A control method for an unloading controller of a plastic sheet stacking robot includes the following steps: Step 1: When the handling robot reaches the release position of the glue stack in the stacking area, it moves downward along the Z-axis, so that the finger control plate contacts the glue stack below or the ground. After driving the finger control plate upward a short distance, the short arm part of the rotating finger aligns with the release hole of the finger control plate and extends out, allowing the rotating finger to rotate in a counterclockwise direction. Step 2: Continuous rotation of the finger causes the rubber stack inside the robotic arm to shift downwards. When the finger control panel 21 is fully inside the robotic arm body, the rotating finger simultaneously contacts the rubber stack below or the ground. Step 3: The Z-axis rises, the robotic arm rises, the rubber stack loaded on the robotic arm presses down on the long arm of the rotating finger, the finger rotates counterclockwise, the short arm of the finger rotates to make the finger control plate rise, and finally the hook-shaped clip is locked in the groove of the finger control plate to prevent the finger control plate from falling. Step 4: The square holes on the finger control board allow the rotating finger to rotate freely. Under the action of the glue stacking weight, the rotating finger is in a vertical downward position, and all the glue boards fall out of the robot arm. As the Z-axis rises, all the glue boards will automatically fall under their own gravity. Step 5: After the Z-axis is lifted, the finger control plate is locked by the hook-shaped clamp and cannot be reset. When the semi-circular hole of the robot arm is aligned with the roller and rides on the roller conveyor line, the hook-shaped clamp of the robot arm is squeezed by the roller, forcing the hook-shaped clamp to unlock from the finger control plate. In this way, the finger control plate moves downward under the action of its own spring and extends out of the robot arm body. At the same time, the square hole on the finger control plate presses down on the short arm part of the rotating finger, causing the rotating finger to lift up and be locked by the control plate, returning to the state where it can bear the glue stack.

[0012] The beneficial effects of this invention are: 1. Fully mechanical structure, low cost, low failure rate, and long service life. Enables fully automatic control of glue stacking.

[0013] 2. The release of the glue stack is fully automated by locking the finger control panel and the hook-shaped clip. All the components involved are mechanical structures, which are inexpensive.

[0014] 3. Tension springs and torsion springs are responsible for resetting the hook clips and finger control panel, resulting in a low failure rate and a long service life. Attached Figure Description

[0015] Figure 1 A schematic diagram of the assembly line structure of the robotic arm unloading controller of this invention; Figure 2 A schematic diagram of the robotic arm unloading controller and glue stack; Figure 3 A schematic diagram of the finger control panel; Figure 4 Schematic diagram of hook-shaped clip structure; Figure 5 Diagram illustrating the working process of the hook-shaped clamp's inclined surface; Figure 6 A schematic diagram of the structure for rotating fingers; Figure 7 Schematic diagram of the guide groove structure of the finger controller; Figure 8 Schematic diagram of the guide groove for the finger control panel; Figure 9 Unloading controller loading status diagram; Figure 10 Figure 9 The left view; Figure 11 Unloading controller unloading status diagram; Figure 12 Unloading controller reset status diagram; Figure 13 The drum reset process diagram; (where (a) the finger control plate 21 is locked by the hook-shaped clip 24 and cannot be reset; (b) the hook-shaped clip 24 is squeezed by the drum, the hook-shaped clip 24 is unlocked from the finger control plate 21, and the finger control plate 21 can be reset) Figure 14 A schematic diagram of the tension spring installation structure; Figure 15 A schematic diagram of the torsion spring installation.

[0016] List of reference numerals in the attached drawings: 1-Mechanical body, 2-Mechanical arm unloading controller, 21-Finger control plate, 211-Upper part of control plate, 212-Lower part of control plate, 213-Side groove, 214-Rectangular release hole, 22-Finger controller guide groove, 23-Finger control plate guide groove, 24-Hook-shaped clip, 241-Hook, 242-Round hole, 243-Right side slope, 244-Left side slope, 25-Rotating finger, 251-Round hole, 252-Long arm part, 253-Short arm part, 26-Clip seat, 27-Tension spring, 3-Glue stack.

[0017] Detailed implementation The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, and the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0018] This embodiment of a plastic sheet stacking robot unloading controller structure includes a robot body 1 and a robot unloading controller 2; Figure 1 As shown, the unloading controllers are arranged in an array on both sides of the robotic arm body 1. Figure 1 The display shows that 10 can be installed, but in actual work, the number can be reduced appropriately according to the weight of the rubber sheet.

[0019] like Figure 2 , 7As shown in Figure 8, the robotic arm unloading controller 2 includes a finger control plate 21, a finger controller guide groove 22, a finger control plate guide groove 23, a hook-shaped clamp 24, a rotating finger 25, and a clamp seat 26. The control plate 21 is equipped with a tension spring 27, which gives it a downward tendency to move. The hook-shaped clamp 24 is equipped with a torsion spring 28, which gives it a tendency to move towards the finger control plate 21. The finger controller guide groove 22 contains the finger control plate guide groove 23. The clamp seat 26 fixes the side wall of the finger control plate guide groove, and the hook-shaped clamp 24 is rotatably mounted on the clamp seat 26. The short arm portion of the rotating finger is fixed to the side wall of the lower part 212 of the control plate of the finger control plate 21.

[0020] like Figure 3 As shown, the finger control plate 21 includes an upper part 211 and a lower part 212; the thickness of the upper part 211 is greater than the thickness of the lower part 212; the lower end of the lower part 212 is provided with a rectangular release hole 214; the lower part 212 is disposed in the finger control plate guide groove 23, and the side of the connecting end of the upper part 211 and the lower part 212 is provided with a side groove 213, which can cooperate with the hook-shaped clip 24 in the unloaded state to prevent the finger control plate 21 from falling; the release hole 214 can be aligned with the short arm part 253 of the rotating finger in the unloaded state, allowing the rotating finger to rotate counterclockwise, thereby completing the unloading.

[0021] like Figure 4 As shown, the lower left and right sides of the hook-shaped clip 24 are respectively provided with a right inclined surface 243 and a left inclined surface 244; the center end of the hook-shaped clip 24 is provided with a round hole 242; the round hole 242 is assembled on the clip seat 26 by a screw; wherein the hook 241 at the top of the hook-shaped clip 24 cooperates with the side groove 213 of the finger control plate; the lower end of the hook 241 is inclined, allowing the finger controller to move upward relative to the hook-shaped clip during unloading; the upper end of the hook 241 is straight, preventing the finger control plate from falling during unloading.

[0022] like Figure 5 As shown, the left inclined surface 244 can be squeezed by the roller when the semicircular hole of the robot arm is aligned with the roller and finally rides on the roller conveyor line, forcing the hook-shaped clip 24 to unlock from the finger control plate 21. In this way, the finger control plate 21 moves downward and extends out of the robot arm body under the action of its own spring.

[0023] like Figure 6As shown, the rotating finger 25 includes a short arm portion 253, a round hole 251, and a long arm portion 252; wherein the upper round hole 251 is fixed to the finger control plate through the finger shaft; the rotating finger 25 rotates around the round hole 251; wherein the long arm portion 252 contacts the glue stack and bears the weight of the glue stack, and the short arm portion 253 contacts the finger control plate 21; to prevent it from rotating in the loaded state and causing premature release of the glue stack.

[0024] A control method for an unloading controller of a plastic sheet stacking robot includes the following steps: Step 1: When the handling robot reaches the release position of the glue stack in the stacking area, it moves downward along the Z-axis, causing the finger control plate 21 to contact the glue stack below or the ground. This drives the finger control plate 21 to move upward a short distance, after which the short arm portion 253 of the rotating finger 25 aligns with and extends from the release hole 214 of the finger control plate 21, allowing the finger to rotate along... Figure 11 It rotates counterclockwise as shown.

[0025] Step 2: Continuing to rotate the finger causes the rubber stack 3 inside the robotic arm to move downwards. When the finger control panel 21 is fully inside the robotic arm body, rotating the finger 25 simultaneously brings it into contact with the rubber stack below or the ground.

[0026] Step 3: The Z-axis rises, the robotic arm rises, and the rubber stack 3 loaded on the robotic arm presses down on the long arm 252 of the rotating finger 25, rotating the finger counterclockwise. The short arm 253 of the rotating finger causes the finger control plate 21 to rise, and finally the hook-shaped clip 24 engages in the groove of the finger control plate 21, preventing the finger control plate 21 from falling. Figure 12 As shown. At this time, the square hole on the finger control panel 21 allows the rotating finger 25 to rotate freely. Under the action of the triple action of the glue stack, the rotating finger 25 is in a vertically downward position, and all the glue sheets fall out of the robot arm. As the Z-axis rises, all the glue sheets will automatically fall under their own gravity.

[0027] Step 4: After the Z-axis is lifted, the finger control panel 21 is locked by the hook-shaped clip 24 and cannot be reset. Figure 13 As shown. When the semi-circular hole of the robot arm is aligned with the roller and rides on the roller conveyor line, the hook-shaped clamp 24 of the robot arm is squeezed by the roller, forcing the hook-shaped clamp 24 to unlock from the finger control plate 21. In this way, the finger control plate 21 moves downward under the action of its own spring and extends out of the robot arm body. At the same time, the square hole on the finger control plate 21 presses down on the short arm part of the rotating finger, causing the rotating finger 25 to be lifted and locked by the control plate, returning to the state where it can bear the glue stack.

[0028] Specifically, such as Figure 9 and 10As shown, the rotating finger 25 flips out towards the glue stack and is constrained by the finger control plate 21 and cannot rotate. It can be seen from the figure that the rotating finger 25 can reliably bear the weight of the glue stack under this condition.

[0029] Figure 9 The display shows that, in addition to constraining the rotation and flipping of the fingers, the finger control panel 21 extends downwards beyond the lower surface of the robot's body, preparing for the unloading of the glue stack. The hook-shaped clamp 24, which is against the control panel, is in an inactive state. The robot remains in this state until the glue stack 3 is released.

[0030] When the handling robot reaches the release position of the glue stack in the stacking area, it moves downward along the Z-axis, causing the finger control plate 21 to contact the glue stack below or the ground. This forces the finger control plate 21 to move upward a short distance, after which the tail of the rotating finger 25 aligns with the release hole of the finger control plate 21 and extends out, allowing the rotating finger to rotate counterclockwise in the figure, as shown. Figure 11 As shown.

[0031] As the rotating finger continues to rotate, the rubber stack 3 inside the robotic arm also moves downwards. However, this movement cannot continue. When the finger control panel 21 retracts into the robotic arm body, the rotating finger 25 also comes into contact with the rubber stack below or the ground, at which point the rubber stack inside the robotic arm cannot be released. Therefore, the Z-axis must be raised to create space for the rotating finger 25 to move, allowing the rubber stack 3 inside the robotic arm to be fully released.

[0032] As the Z-axis rises, the robotic arm is lifted, and the rubber stack 3 loaded on the robotic arm presses down to rotate the finger 25, forcing the finger control plate 21 to continue rising. Finally, the hook-shaped clip 24, under the action of the spring, falls into the groove of the finger control plate 21, restricting the finger control plate 21 from falling. Figure 12 As shown. At this point, the square hole on the finger control panel 21 allows the rotating finger 25 to rotate freely. Under the combined action of the three layers of rubber sheets, the rotating finger 25 is in a vertically downward position, allowing all the rubber sheets to fall out of the robotic arm. As the Z-axis rises, all the rubber sheets will automatically fall under their own gravity, as shown. Figure 12 As shown. The advantage of this mechanism design is that it can effectively prevent the spring from pulling the finger control plate 21 downward, thereby lifting the rotating finger 25 and preventing the release of a few rubber plates on the upper layer of the rubber stack.

[0033] After the Z-axis is lifted, the finger control panel 21 is locked by the hook-shaped clip 24 and cannot be reset. Figure 13 As shown. It is necessary to wait until the semi-circular hole of the robotic arm aligns with the roller and finally rides on the roller conveyor line. At this point, the hook-shaped clamp of the robotic arm is squeezed by the roller, forcing the hook-shaped clamp 24 to unlock from the finger control plate 21. Thus, the finger control plate 21 moves downwards under the action of its own spring and extends out of the robotic arm body, as shown. Figure 13 As shown. At the same time, the square hole on the finger control plate 21 also forces the rotating finger 25 to lift up and gradually be locked by the control plate, returning to a state where it can support the glue stack.

[0034] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features.

Claims

1. A structure for an unloading controller of a plastic sheet stacking robot, characterized in that: The system includes a robotic arm body (1) and a robotic arm unloading controller (2); the robotic arm unloading controller (2) is arranged in an array on both sides of the robotic arm body (1). The robotic arm unloading controller (2) includes a finger control plate (21), a finger controller guide groove (22), a finger controller guide groove (23), a hook-shaped clamp (24), a rotating finger (25), and a clamp seat (26); the finger control plate (21) is equipped with a tension spring (27) to make it tend to move downward, and the hook-shaped clamp (24) is equipped with a torsion spring (28) to make it tend to move towards the finger control plate (21); the finger controller guide groove (22) is provided with a finger controller guide groove (23). The clip seat (26) fixes the side wall of the finger control plate guide groove, and the hook-shaped clip (24) is rotatably mounted on the clip seat (26); the short arm part of the rotating finger is fixed to the side wall of the lower part (212) of the control plate of the finger control plate (21); the finger control plate (21) includes two parts: the upper part (211) of the control plate and the lower part (212) of the control plate; the thickness of the upper part (211) of the control plate is greater than the thickness of the lower part (212) of the control plate; the lower end of the lower part (212) of the control plate is provided with a rectangular release hole (214); the lower part (212) of the control plate is set in the finger controller guide groove (23), and the upper part (211) and the lower part (212) of the control plate are fixed to the side wall of the finger control plate guide groove (23). 12) The side of the connecting end is provided with a side groove (213), which can cooperate with the hook-shaped clip (24) in the unloaded state to prevent the finger control plate (21) from falling; the rectangular release hole (214) can be aligned with the short arm part (253) of the rotating finger in the unloaded state, allowing the rotating finger to rotate counterclockwise, thereby completing the unloading; the lower left and right sides of the hook-shaped clip (24) are provided with a right slope (243) and a left slope (244) respectively; the center end of the hook-shaped clip (24) is provided with a round hole (242); the round hole (242) is assembled on the clip seat (26) by a screw; wherein the hook at the top of the hook-shaped clip (24) is The hook (241) engages with the side groove (213) of the finger control plate; the lower end of the hook (241) is inclined, allowing the finger controller to move upward relative to the hook-shaped clip during unloading; the upper end of the hook (241) is straight, preventing the finger control plate from falling during unloading; the rotating finger (25) includes a short arm part (253), a round hole (251) and a long arm part (252); the upper round hole (251) is fixed to the finger control plate through the finger shaft; the rotating finger (25) rotates around the round hole (251); the long arm part (252) contacts the glue stack and bears the weight of the glue stack, and the short arm part (253) contacts the finger control plate (21).

2. A control method for an unloading controller of a plastic sheet stacking robot, based on the structure of the unloading controller of a plastic sheet stacking robot as described in claim 1, characterized in that: Specifically, the steps include the following: Step 1: When the handling robot reaches the release position of the stacked glue in the stacking area, it moves downward along the Z-axis, so that the finger control plate (21) contacts the glue stack below or the ground. After driving the finger control plate (21) to move upward a short distance, the short arm part (253) of the rotating finger (25) is aligned with the rectangular release hole (214) of the finger control plate (21) and extends out, allowing the rotating finger to rotate in the counterclockwise direction. Step 2: As the finger continues to rotate, the rubber stack (3) inside the robotic arm moves downward; when the finger control panel (21) is fully inside the robotic arm body, rotate the finger (25) and simultaneously contact the rubber stack below or the ground; Step 3: The Z-axis rises, the robot arm rises, the rubber stack (3) loaded on the robot arm presses down on the long arm part (252) of the rotating finger (25), the rotating finger rotates counterclockwise, the short arm part (253) of the rotating finger makes the finger control plate (21) rise, and finally the hook-shaped clip (24) is locked in the groove of the finger control plate (21) to prevent the finger control plate (21) from falling; Step 4: The rectangular release hole (214) on the finger control panel (21) has allowed the rotating finger (25) to rotate freely. Under the gravity of the rubber stack (3), the rotating finger (25) is in a vertical downward position. All the rubber sheets fall out of the robot arm. As the Z-axis rises, all the rubber sheets will fall automatically under their own gravity. Step 5: After the Z-axis is lifted, the finger control plate (21) is locked by the hook-shaped clip (24) and cannot be reset. When the semi-circular hole of the robot arm is aligned with the roller and located above the roller conveyor line, the hook-shaped clip of the robot arm is squeezed by the roller, forcing the hook-shaped clip (24) to unlock from the finger control plate (21). In this way, the finger control plate (21) moves downward under the action of its own spring and extends out of the robot arm body. At the same time, the rectangular release hole (214) on the finger control plate (21) presses down on the short arm part of the rotating finger, causing the rotating finger (25) to be lifted and locked by the control plate, returning to the state that can bear the glue stack.

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