Buffering discharging type robot grabbing system for gypsum board filler strips

Abstract

The invention relates to the field of gypsum boards, and discloses a buffer discharging type robot grabbing system for gypsum board filler strips, which comprises a mechanical arm, a grabbing device is movably mounted at the execution end of the mechanical arm, the grabbing device comprises a main seat, mounting frames are symmetrically arranged at the two ends of the main seat, and combined board bodies are rotatably mounted on the mounting frames through rotating shafts; a driving assembly is installed on the combined plate body, lifting frames are arranged on the two sides of the end of the main base, connecting frames are arranged at the bottoms of the lifting frames, supporting plates are rotationally installed at the bottoms of the connecting frames through installing shafts, and the bottoms of the supporting plates are supported by at least part of the plate face of the combined plate body and kept horizontal under the supporting effect so as to support the bottoms, close to the side edges, of the filler strips. According to the device, after the grabbing device reaches the position above the discharging position, the supporting plates do not bear supporting force and rotate downwards, a channel for discharging the filler strips is formed, sliding type discharging of the filler strips between the supporting plates is achieved, fixed-point buffering discharging is achieved, deviation of the discharging position is avoided, and it is guaranteed that the filler strips stably slide to the discharging position.

Description

Technical Field

[0001] The present invention relates to the field of gypsum boards, and in particular to a buffering unloading robot grasping system for gypsum board pads. Background Art

[0002] During the gypsum board stacking process, in order to facilitate the forking, transportation and stacking of gypsum boards, it is necessary to place pads between a certain number of gypsum board layers. Each gypsum board rack uses four pads, and a gypsum board packaging line uses approximately 1,740 pads per day. If manual placement is used, a large number of pads will need to be manually placed on the packaging line every day, which greatly consumes labor resources and is inefficient.

[0003] In order to solve the problem of low labor efficiency, the existing technology often uses a forklift in conjunction with a robotic grasping system to transport and place the cushion strips. The cushion strips are first placed on the grasping station by a forklift. The robotic grasping system uses a robotic arm to operate the grasping device to grasp the cushion strips on the grasping station. The robotic arm drives the grasping device to move to the packaging line and releases the cushion strips, allowing the cushion strips to fall onto the packaging line.

[0004] In the prior art, in order to avoid interference between the gripping device and the packaging line, the pads are generally released after being delivered to a specific position above the packaging line, allowing them to fall freely onto the packaging line. However, this method of unloading may damage the pads, and there is a possibility that the unloading position of the pads may be offset or inaccurate, which may affect the stability of the gypsum board. Summary of the Invention

[0005] To this end, the present invention provides a buffered unloading robot grasping system for gypsum board pads, which effectively solves the technical problems in the prior art that the unloading method may damage the pads, and there is a situation where the unloading position of the pads is offset and inaccurate, which may affect the stability of the gypsum board.

[0006] To solve the above technical problems, the present invention specifically provides the following technical solutions: a buffered unloading robot gripping system for gypsum board gasket strips, comprising a robotic arm, a gripping device movably mounted on the execution end of the robotic arm;

[0007] The grabbing device includes a main seat, and mounting brackets are symmetrically provided at both ends of the main seat. A combination plate body is rotatably mounted on the mounting bracket via a rotating shaft. A driving assembly is installed on the combination plate body. The combination plate body is driven by the driving assembly to rotate from a vertical state to a horizontal state to lift the end of the pad;

[0008] Lifting frames are provided on both sides of the end of the main seat, and connecting frames are provided at the bottom of the lifting frames, facing both sides of the cushion strip. A support plate is rotatably mounted on the bottom of the connecting frame via a mounting shaft. The bottom of the support plate is supported by at least a portion of the surface of the combined plate body and remains horizontal under the support, so as to support the bottom of the cushion strip close to the side edge.

[0009] Among them, the lifting frame can descend and approach the unloading position when the combined plate body is reset to a vertical state, and the support plate is not subject to supporting force and gradually rotates downward, so that a channel for the pad to slide down is formed between the relative support plates, so that the pad gradually slides downward to unload the material under the sliding friction force.

[0010] Furthermore, the combined plate body includes a first plate segment, a second plate segment, and a third plate segment connected in sequence;

[0011] The first plate segment and the second plate segment are perpendicular to each other, the second plate segment and the third plate segment are perpendicular to each other, and side panels are provided on both sides of the third plate segment, and the side panels are supported on the bottom of the support plate.

[0012] Furthermore, the upper supporting surface of the third plate segment in a horizontal state is flush with the upper supporting surface of the support plate in a horizontal state;

[0013] The cushion strip is clamped between the second plate sections that are opposite to each other along the length direction.

[0014] Furthermore, a vertical plate seat is formed at the bottom of the mounting frame;

[0015] The driving assembly includes an arc-shaped slide groove provided on the vertical plate seat and an arc-shaped rack provided in the arc-shaped slide groove;

[0016] A first drive motor is installed on the first plate segment at a position corresponding to the arc-shaped chute. A gear is connected to the driving end of the first drive motor. The gear is located in the arc-shaped chute and meshes with the arc-shaped rack.

[0017] The first driving motor drives the gear to rotate, causing the gear to rotate relative to the arc-shaped rack, thereby driving the gear to move along the direction of the arc-shaped sliding groove, thereby driving the first plate segment to rotate around the rotating shaft.

[0018] Furthermore, a limiting arc groove is provided on the vertical plate seat, and a limiting block is provided on the first plate segment at a position corresponding to the limiting arc groove, and the limiting block is slidably provided in the limiting arc groove.

[0019] Furthermore, a connecting plate seat is formed at the bottom of the connecting frame, a torsion spring is provided on the mounting shaft, the mounting shaft is rotatably mounted on the connecting plate seat, one end of the torsion spring is connected to the outer wall of the mounting shaft, and the other end is connected to the connecting plate seat.

[0020] Furthermore, a driving cavity is provided on the main seat, and a lifting driving structure is provided in the driving cavity.

[0021] Furthermore, the lifting drive structure includes a rotating drum and a rotating seat rotatably mounted on the bottom of the rotating drum;

[0022] Both sides of the rotating seat are connected to the lifting frame;

[0023] Wherein, the outer wall of the rotating drum is provided with a first chute and a second chute, the first chute and the second chute each correspond to a half circumference of the rotating drum, a vertical groove is connected between the first chute and the second chute, and along the circumferential direction, the height of the first chute gradually increases, and the height of the second chute gradually increases, the lowest position of the first chute is flush with the lowest position of the second chute, and the highest position of the first chute is flush with the highest position of the second chute, the highest position of the first chute and the lowest position of the second chute are connected through the vertical groove, and the lowest position of the first chute and the highest position of the second chute are connected through the vertical groove;

[0024] A sliding bolt is installed inside the driving cavity, and an end portion of the sliding bolt slides in the first sliding groove, the second sliding groove and the vertical groove.

[0025] Furthermore, a vertical frame is installed at the bottom of the driving chamber, a limit rod is installed on the vertical frame, a connecting spring is provided between the vertical frame and the bottom of the rotating seat, and the connecting spring is wound around the limit rod;

[0026] A through hole for the limiting rod to pass through is provided in the rotating drum and the rotating seat, so that the limiting rod is slidably connected with the rotating drum and the rotating seat.

[0027] Furthermore, a second driving motor is installed on the main seat, a driving end of the second driving motor is connected to a driving arc plate, and a transmission arc plate is connected to the rotating drum;

[0028] The driving arc plate and the transmission arc plate are slidably engaged with each other in a vertical direction so as to drive the driving arc plate to rotate when the transmission arc plate rotates.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] In the present invention, the end of the pad strip is lifted by the combined plate body in a horizontal state, and the bottom of the pad strip near the side is supported by the support plate. After reaching the space above the unloading position, the combined plate body is reset to a vertical state, the support plate is not subject to the supporting force and rotates downward, and a channel for unloading the pad strip is formed between the opposite support plates, so that the pad strip can be slid between the support plates to achieve fixed-point buffered unloading, avoid the unloading position deviation on the basis of avoiding interference between the device and the packaging line, ensure that the pad strip slides stably to the unloading position, and avoid the pad strip from falling directly and possibly being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can, without inventive effort, derive other implementation drawings based on the provided drawings.

[0032] Figure 1 This is a schematic structural diagram of a grabbing device in an embodiment of the present invention;

[0033] Figure 2 A schematic structural diagram of a gripping device from another perspective in an embodiment of the present invention;

[0034] Figure 3 Schematic diagram of the structure of the vertical plate base, the drive assembly and the combined plate body in an embodiment of the present invention;

[0035] Figure 4 This is a schematic structural diagram of a combined plate body in an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the installation of the support plate, lifting frame and lifting drive structure in an embodiment of the present invention;

[0037] Figure 6 This is a structural diagram of the support plate, lifting frame and lifting drive structure in an embodiment of the present invention;

[0038] Figure 7 for Figure 6 Schematic diagram of the top view structure;

[0039] Figure 8 for Figure 7 Stereoscopic cross-sectional view in the AA direction;

[0040] Figure 9 Schematic diagram of a pad supported on a support plate in an embodiment of the present invention;

[0041] Figure 10 Schematic diagram of the cushion strip sliding down from between the support plates in an embodiment of the present invention.

[0042] The numbers in the figure represent the following:

[0043] 1. Main seat; 2. Mounting frame; 3. Rotating shaft; 4. Combined plate body; 5. Drive assembly; 6. Pad strip; 7. Lifting frame; 8. Connecting frame; 9. Mounting shaft; 10. Support plate; 11. Vertical plate seat; 12. Connecting plate seat; 13. Drive chamber; 14. Lifting drive structure;

[0044] 41. First plate segment; 42. Second plate segment; 43. Third plate segment; 44. Side plate;

[0045] 51. Arc-shaped chute; 52. Arc-shaped rack; 53. First drive motor; 54. Gear; 55. Limit arc groove; 56. Limit block;

[0046] 141. Rotating drum; 142. Rotating seat; 143. First slide groove; 144. Second slide groove; 145. Vertical groove; 146. Sliding bolt; 147. Vertical frame; 148. Limiting rod; 149. Connecting spring; 1410. Second driving motor; 1411. Driving arc plate; 1412. Transmission arc plate. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] like Figure 1 As shown, the present invention provides a buffered unloading robot grasping system for gypsum board pads, comprising a robotic arm, and a grasping device is movably mounted on the execution end of the robotic arm.

[0049] In addition, the system also includes a visual detection module, a photoelectric switch, an alarm, etc. The forklift puts the entire pallet pad 6 on the robot's grasping station, scans the current top layer of pad 6 through the visual detection module, and sends the coordinates of the pad 6 that needs to be grasped to the robot through the visual cutting algorithm. After receiving the coordinates, the robot controls the robotic arm to move the grasping equipment above the coordinates according to the coordinates and grasps it. After grasping, the robotic arm drives the grasping device to move above the unloading position. At this time, the grasping device remains in a grasping state, and the photoelectric switch detects whether there is material in the material slot at the current unloading position. If there is material, the grasping device remains in a tightened state. If there is no material, the photoelectric switch transmits the signal to the system through the I / O signal, and the robotic arm moves to put the pad 6 into the material slot, the grasping device opens, and the robotic arm and grasping device reset after a delay of 2S. At the same time, the visual detection module is triggered to scan again, and the coordinates of the next pad 6 are sent according to the visual cutting algorithm, and the cycle repeats. After the entire pallet pad 6 is grasped, the alarm generates a no-material alarm to remind the forklift to load the material.

[0050] In the present invention, the gripping device can lift and unload the pad 6, specifically, as shown in FIG. Figure 1 、 Figure 2 As shown, the grabbing device includes a main seat 1, with mounting frames 2 symmetrically arranged at both ends of the main seat 1, a combined plate body 4 is rotatably mounted on the mounting frame 2 via a rotating shaft 3, a driving assembly 5 is mounted on the combined plate body 4, and the combined plate body 4 is driven by the driving assembly 5 to rotate from a vertical state to a horizontal state to lift the end of the pad 6. When the pad 6 is not lifted normally, the combined plate body 4 is in a vertical state.

[0051] like Figure 5 As shown, lifting frames 7 are provided on both sides of the end of the main seat 1, and connecting frames 8 are provided on the bottom of the lifting frames 7 on both sides of the cushion strip 6. A support plate 10 is rotatably installed on the bottom of the connecting frame 8 through the installation shaft 9. The bottom of the support plate 10 is supported by at least part of the plate surface of the combined plate body 4 and remains horizontal under the support action, so as to support the bottom of the cushion strip 6 close to the side.

[0052] Among them, the lifting frame 7 can descend and approach the unloading position when the combined plate body 4 is restored to a vertical state. The support plate 10 is not supported and gradually rotates downward, so that a channel for the pad 6 to slide down is formed between the support plates 10 in relative positions, so that the pad 6 gradually slides downward to unload the material under the sliding friction force.

[0053] In the present invention, the ends of the pads 6 are lifted by the horizontal combined plate body 4, and the bottom of the pads 6 near the side is supported by the support plate 10. After reaching the top of the unloading position, the combined plate body 4 is reset to a vertical state, and the support plate 10 is not supported and rotates downward. A channel for unloading the pads 6 is formed between the opposite support plates 10, so that the pads 6 can be slid between the support plates 10 to achieve fixed-point buffered unloading. On the basis of avoiding interference between the device and the packaging line, the unloading position is avoided from being offset, and the pads 6 are ensured to slide stably into the unloading position, avoiding the pads 6 from falling directly and possibly being damaged.

[0054] In order to realize the grabbing of the pad 6, the present invention mainly utilizes the combined plate body 4 to lift the pad 6. Specifically, Figure 3 and Figure 4 As shown, the combined plate body 4 includes a first plate segment 41, a second plate segment 42, and a third plate segment 43 connected in sequence;

[0055] The first plate segment 41 and the second plate segment 42 are perpendicular to each other, and the second plate segment 42 and the third plate segment 43 are perpendicular to each other. Side panels 44 are provided on both sides of the third plate segment 43. The side panels 44 are supported on the bottom of the support plate 10 and can support the support plate 10.

[0056] When the combined plate body 4 is in a vertical state, the height it occupies is roughly the sum of the first plate segment 41 and the second plate segment 42, and basically does not interfere with the unloading position of the packaging line. When the combined plate body 4 is in a horizontal state, the second plate body and the third plate body just form an "L"-shaped plate group, which can lift and clamp the pad 6. The pad 6 is clamped between the opposite second plate segments 42 along the length direction.

[0057] The support plate 10 and the third plate segment 43 both support the gasket strip 6 . Therefore, the present invention requires that the upper support surface of the third plate segment 43 in a horizontal state is flush with the upper support surface of the support plate 10 in a horizontal state.

[0058] In the present invention, the support plate 10 or the connecting frame 8 can limit the width direction of the pad 6, and there are two corresponding implementation situations:

[0059] The first implementation situation is:

[0060] The support plate 10 is designed to be a flat plate, and the connecting frame 8 limits the width direction of the pad 6;

[0061] The second implementation situation is:

[0062] The support plate 10 is designed to be an L-shaped plate structure, and the pads 6 are located between the L-shaped plate structures. Then, the support plate 10 itself can limit the pads 6 in the width direction.

[0063] In the present invention, the support plate 10 is in a horizontal state in its natural state. When the bottom thereof is not supported by the side plate 44, the support plate 10 will rotate downward under the gravity of the pad 6. When the pad 6 is completely separated from the support plate 10, the support plate 10 can be restored to its initial state. In this regard, the present invention makes the following design, such as Figure 5 and Figure 6 As shown, a connecting plate seat 12 is formed at the bottom of the connecting frame 8, a torsion spring is provided on the mounting shaft 9, and the mounting shaft 9 is rotatably mounted on the connecting plate seat 12, one end of the torsion spring is connected to the outer wall of the mounting shaft 9, and the other end is connected to the connecting plate seat 12.

[0064] During the downward rotation of the support plate 10 , the torsion spring is deformed. After the pad 6 is completely separated from the support plate 10 , the support plate 10 is reset by the elastic force of the torsion spring.

[0065] like Figure 3 As shown, a vertical plate seat 11 is formed at the bottom of the mounting frame 2, and the driving assembly 5 is arranged on the vertical plate seat 11. The combined plate body 4 is driven by the driving assembly 5 to rotate from a vertical state to a horizontal state to lift the end of the pad 6. Specifically, Figure 3 and Figure 4 As shown, the driving assembly 5 includes an arc-shaped chute 51 provided on the vertical plate seat 11 and an arc-shaped rack 52 provided in the arc-shaped chute 51;

[0066] A first drive motor 53 is installed on the first plate section 41 at a position corresponding to the arc-shaped chute 51. The driving end of the first drive motor 53 is connected to a gear 54. The gear 54 is located in the arc-shaped chute 51 and meshes with the arc-shaped rack 52.

[0067] The first drive motor 53 drives the gear 54 to rotate, so that the gear 54 rotates relative to the arc rack 52, so as to drive the gear 54 to move along the direction of the arc slot 51, thereby driving the first plate segment 41 to rotate around the rotating shaft 3. Therefore, the rotation direction of the first drive motor 53 can realize the clockwise or counterclockwise rotation of the first plate segment 41 around the rotating shaft 3. When the first plate segment 41 rotates counterclockwise, the combined plate body 4 can be transformed from a vertical state to a horizontal state. When the first plate segment 41 rotates clockwise, the combined plate body 4 can be transformed from a horizontal state to a vertical state.

[0068] In order to limit the moving direction of the first plate segment 41, the present invention also makes the following design: a limiting arc groove 55 is set on the vertical plate seat 11, and a limiting block 56 is set on the first plate segment 41 at a position corresponding to the limiting arc groove 55, and the limiting block 56 is slidably set in the limiting arc groove 55.

[0069] The main seat 1 is provided with a driving cavity 13, and a lifting driving structure 14 is provided in the driving cavity 13. The lifting driving structure 14 is used to drive the lifting frame 7 to move up and down. Figure 6 、 Figure 7 and Figure 8 As shown, the lifting drive structure 14 includes a rotating drum 141 and a rotating base 142 rotatably mounted on the bottom of the rotating drum 141;

[0070] Both sides of the rotating seat 142 are connected to the lifting frame 7;

[0071] Among them, the outer wall of the rotating drum 141 is provided with a first sliding groove 143 and a second sliding groove 144. The first sliding groove 143 and the second sliding groove 144 each correspond to half the circumference of the rotating drum 141. A vertical groove 145 is connected between the first sliding groove 143 and the second sliding groove 144. Viewed along the circumferential direction, the height of the first sliding groove 143 gradually increases, and the height of the second sliding groove 144 gradually increases. The lowest position of the first sliding groove 143 is flush with the lowest position of the second sliding groove 144, and the highest position of the first sliding groove 143 is flush with the highest position of the second sliding groove 144. The highest position of the first sliding groove 143 and the lowest position of the second sliding groove 144 are connected through the vertical groove 145, and the lowest position of the first sliding groove 143 and the highest position of the second sliding groove 144 are connected through the vertical groove 145.

[0072] A sliding bolt 146 is installed inside the driving cavity 13 , and the end of the sliding bolt 146 slides in the first sliding groove 143 , the second sliding groove 144 and the vertical groove 145 .

[0073] Assume that in the initial state, the sliding bolt 146 is at the lowest position in one of the vertical slots 145, that is, the lowest position of the first sliding slot 143. During the rotation of the rotating drum 141, the height position of the sliding bolt 146 remains unchanged. During the sliding process along the first sliding slot 143, the sliding bolt 146 will generate a thrust on the rotating drum 141, causing the rotating drum 141 to move downward. During the downward movement of the rotating drum 141, the lifting frame 7 and the connecting frame 8 will be driven to descend, and the support plate 10 will also descend.

[0074] Similarly, if the sliding bolt 146 is at the lowest position of the other vertical slot 145 (the lowest position of the second sliding slot 144), the height position of the sliding bolt 146 remains unchanged during the rotation of the rotating drum 141. When the sliding bolt 146 slides along the second sliding slot 144, it will generate a thrust on the rotating drum 141, causing the rotating drum 141 to move downward. During the downward movement of the rotating drum 141, the lifting frame 7 and the connecting frame 8 will be driven to descend, and the support plate 10 will also descend.

[0075] The descending process of the rotating drum 141 is a slow descending process, and the descending process of the support plate 10 is also a slow descending process. The pad 6 is affected by gravity and generally accelerates to fall, which forms a speed difference between the support plate 10 and the pad 6. The pad 6 and the support plate 10 must be relatively active. In actual application, the friction force generated by the support plate 10 on the pad 6 can meet the condition: "When the pad 6 just leaves the support plate 10, the rotating drum 141 drops to the lowest position, and the support plate 10 just reaches the unloading position (without contacting the unloading position)". This makes the pad 6 directly reach the unloading position when it just leaves the support plate 10, avoiding the situation where the pad 6 accelerates to fall and falls heavily on the unloading position during the falling process in the air.

[0076] After the rotating drum 141 descends, it is necessary to drive the rotating drum 141 to return to its original position. To this end, the present invention has the following design: a vertical frame 147 is installed at the bottom of the driving chamber 13, a limit rod 148 is installed on the vertical frame 147, and a connecting spring 149 is provided between the vertical frame 147 and the bottom of the rotating seat 142. The connecting spring 149 is wound around the limit rod 148;

[0077] A through hole for the limiting rod 148 to pass through is provided in the rotating drum 141 and the rotating seat 142, so that the limiting rod 148 is slidably connected with the rotating drum 141 and the rotating seat 142, wherein the limiting rod 148 serves to limit the lifting direction of the rotating drum 141.

[0078] Assuming that in the initial state, the sliding bolt 146 is at the lowest position in one of the vertical slots 145, that is, the lowest position of the first slide slot 143, during the rotation of the drum 141, the height position of the sliding bolt 146 remains unchanged, and the sliding bolt 146 will generate a thrust on the drum 141 during the sliding process of sliding along the first slide slot 143, causing the drum 141 to move downward. During the downward movement of the drum 141, the lifting frame 7 and the connecting frame 8 will be driven to descend, and the support plate 10 will also be lowered. When the sliding bolt 146 slides relatively to the highest position in the first slide slot 143, the drum 141 has dropped to the lowest position. During this process, the connecting spring 149 is compressed. At this time, the sliding bolt 146 reaches the highest position of the other vertical slot 145. Under the elastic action of the connecting spring 149, the drum 141 is driven to move up quickly, and the sliding bolt 146 slides relatively to the bottom of the vertical slot 145 quickly. At this time, the drum 141 stops rotating and waits for the next process of unloading before driving the drum 141 to rotate.

[0079] The process of the rotating drum 141 descending is a slow descending process, which can create a speed difference between the support plate 10 and the pad 6, thereby realizing sliding unloading. The process of the rotating drum 141 rising is a rapid rising process, which can reduce the time of the entire unloading process and improve the efficiency of resetting after unloading.

[0080] In order to drive the drum 141 to rotate, the present invention also makes the following design, such as Figure 6 、 Figure 7 and Figure 8 As shown, a second driving motor 1410 is installed on the main seat 1, a driving end of the second driving motor 1410 is connected to a driving arc plate 1411, and a transmission arc plate 1412 is connected to the rotating drum 141;

[0081] The driving arc plate 1411 and the transmission arc plate 1412 are slidably engaged with each other in a vertical direction, so that the driving arc plate 1411 is driven to rotate when the transmission arc plate 1412 rotates.

[0082] The design of the driving arc plate 1411 and the transmission arc plate 1412 is such that: no matter to which height the rotating drum 141 is raised or lowered, the height of the transmission arc plate 1412 is different, but it is still engaged with the driving gear 54. The second driving motor 1410 can drive the transmission arc plate 1412 to rotate through the driving arc plate 1411, thereby driving the rotating drum 141 to rotate. In other words, the rotating drum 141 can always rotate under the drive of the second driving motor 1410.

[0083] In summary, the main implementation process of the present invention is:

[0084] The forklift places the entire pallet of cushion strips 6 on the robot's grabbing station. The visual inspection module scans the cushion strips 6 on the top layer and uses a visual segmentation algorithm to send the coordinates of the cushion strips 6 to be grabbed to the robot. The robot receives the coordinates and controls the robotic arm to move the grabbing equipment above the coordinates.

[0085] The pad 6 is located just below the support plates 10. The robotic arm drives the grabbing device downward, and the support plates 10 gradually tend to a vertical state under the push of the pad 6 until the support plates 10 drop to the bottom of the pad 6 and are at a certain distance from the pad 6. After that, they are reset to a horizontal state. The robotic arm drives the grabbing device upward for a short distance, so that the support plates 10 contact the bottom of the pad 6.

[0086] Afterwards, the first driving motor 53 drives the gear 54 to rotate, so that the gear 54 rotates relative to the arc-shaped rack 52, thereby driving the gear 54 to move along the direction of the arc-shaped slide 51, thereby driving the first plate segment 41 to rotate around the rotating shaft 3. The first plate segment 41 is adjusted from a vertical state to a horizontal state, and the second plate segment 42 clamps the pad 6. In addition, the side plate 44 supports the support plate 10 to ensure that the support plate 10 does not rotate downward. Figure 9 As shown, the pad 6 is between the support plates 10 and the grabbing is completed;

[0087] After grabbing, the grabbing device is driven by the robotic arm to move above the unloading position. When there is no material in the material slot at the current unloading position, the first drive motor 53 drives the combined plate 4 to return to the vertical state.

[0088] At the same time, the second driving motor 1410 can drive the transmission arc plate 1412 to rotate by driving the arc plate 1411, thereby driving the rotating drum 141 to rotate. During the rotation of the rotating drum 141, the height position of the sliding bolt 146 remains unchanged, and the sliding bolt 146 slides from the bottom of the vertical groove 145 along the first sliding groove 143, which will generate a thrust on the rotating drum 141, causing the rotating drum 141 to move downward. During the downward movement of the rotating drum 141, the lifting frame 7 and the connecting frame 8 will be driven to descend, and the support plate 10 will also descend. When the sliding bolt 146 slides relatively to the highest position in the first sliding groove 143, the rotating drum 141 has descended to the lowest position. In the above process, the support plate 10 rotates downward under the action of the gravity of the pad 6, as shown in FIG. Figure 10 As shown, the pad 6 slides downward along the support plate 10. When the drum 141 descends to the lowest position, the pad 6 just separates from the support plate 10, and the support plate 10 just reaches the unloading position.

[0089] After the material is unloaded, the support plate 10 is reset under the elastic force of the torsion spring;

[0090] When the rotating drum 141 drops to the lowest position, the sliding bolt 146 reaches the highest position of another vertical slot 145. Under the elastic force of the connecting spring 149, the rotating drum 141 is driven to move up rapidly, and the sliding bolt 146 slides rapidly relative to the bottom of the vertical slot 145. At this time, the rotating drum 141 stops rotating, and the support plate 10 also rises to the initial position along with the connecting frame 8 and the rotating drum 141. At this point, the transfer and unloading of the pad 6 is completed once. The above steps are repeated subsequently to complete the transfer and unloading of the entire support pad 6.

[0091] The above embodiments are merely exemplary embodiments of the present application and are not intended to limit the scope of the present application. The scope of protection of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and scope of protection of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the present application.

Claims

1. A buffered unloading robot grasping system for gypsum board strips, characterized in that: It includes a mechanical arm, and a gripping device is movably mounted on the execution end of the mechanical arm; The grabbing device comprises a main seat (1), mounting frames (2) are symmetrically provided at both ends of the main seat (1), a combination plate body (4) is rotatably mounted on the mounting frame (2) via a rotating shaft (3), a driving assembly (5) is mounted on the combination plate body (4), and the combination plate body (4) is rotated from a vertical state to a horizontal state under the drive of the driving assembly (5) to lift the end of the pad (6); Lifting frames (7) are provided on both sides of the end of the main seat (1), and connecting frames (8) are provided on the bottom of the lifting frames (7) on both sides of the cushion strip (6). A support plate (10) is rotatably installed on the bottom of the connecting frame (8) via an installation shaft (9), and the bottom of the support plate (10) is supported by at least a portion of the plate surface of the combined plate body (4) and is kept horizontal under the support effect, so as to support the bottom of the cushion strip (6) close to the side. The lifting frame (7) can descend and approach the unloading position when the combined plate body (4) is reset to a vertical state, and the support plate (10) is not supported and gradually rotates downward, so that a channel for the pad (6) to slide down is formed between the relative support plates (10), so that the pad (6) gradually slides downward to unload the material under the sliding friction force.

2. The buffered unloading robot grasping system for gypsum board strips according to claim 1, characterized in that: The combined plate body (4) comprises a first plate segment (41), a second plate segment (42), and a third plate segment (43) which are connected in sequence; The first plate segment (41) and the second plate segment (42) are perpendicular to each other, the second plate segment (42) and the third plate segment (43) are perpendicular to each other, and side panels (44) are provided on both sides of the third plate segment (43), and the side panels (44) are supported on the bottom of the support plate (10).

3. The buffered unloading robot grasping system for gypsum board gaskets according to claim 2, characterized in that: The upper support surface of the third plate segment (43) in a horizontal state is flush with the upper support surface of the support plate (10) in a horizontal state; The gasket strip (6) is clamped between the second plate sections (42) that are opposite to each other along the length direction.

4. The buffered unloading robot grasping system for gypsum board gaskets according to claim 2, characterized in that: A vertical plate seat (11) is formed at the bottom of the mounting frame (2); The driving assembly (5) comprises an arc-shaped chute (51) provided on the vertical plate seat (11) and an arc-shaped rack (52) provided in the arc-shaped chute (51); A first drive motor (53) is installed on the first plate section (41) at a position corresponding to the arc-shaped chute (51), and a gear (54) is connected to the driving end of the first drive motor (53). The gear (54) is located in the arc-shaped chute (51) and meshes with the arc-shaped rack (52); The first driving motor (53) drives the gear (54) to rotate, causing the gear (54) to rotate relative to the arc-shaped rack (52), thereby driving the gear (54) to move along the direction of the arc-shaped sliding groove (51), thereby driving the first plate segment (41) to rotate around the rotating shaft (3).

5. The buffered unloading robot grasping system for gypsum board gaskets according to claim 4, characterized in that: A limiting arc groove (55) is provided on the vertical plate seat (11), and a limiting block (56) is provided on the first plate segment (41) at a position corresponding to the limiting arc groove (55), and the limiting block (56) is slidably provided in the limiting arc groove (55).

6. The buffered unloading robot grasping system for gypsum board gaskets according to claim 1, characterized in that: A connecting plate seat (12) is formed at the bottom of the connecting frame (8), a torsion spring is provided on the mounting shaft (9), the mounting shaft (9) is rotatably mounted on the connecting plate seat (12), one end of the torsion spring is connected to the outer wall of the mounting shaft (9), and the other end is connected to the connecting plate seat (12).

7. The buffered unloading robot grasping system for gypsum board gaskets according to claim 1, characterized in that: A driving cavity (13) is provided on the main seat (1), and a lifting driving structure (14) is provided in the driving cavity (13).

8. The buffered unloading robot grasping system for gypsum board gaskets according to claim 7, characterized in that: The lifting drive structure (14) includes a rotating drum (141) and a rotating seat (142) rotatably mounted on the bottom of the rotating drum (141); Both sides of the rotating seat (142) are connected to the lifting frame (7); Wherein, the outer wall of the rotating drum (141) is provided with a first sliding groove (143) and a second sliding groove (144), the first sliding groove (143) and the second sliding groove (144) respectively correspond to half of the circumference of the rotating drum (141), and a vertical groove (145) is connected between the first sliding groove (143) and the second sliding groove (144), and along the circumferential direction, the height of the first sliding groove (143) gradually increases, and the height of the second sliding groove (144) gradually increases, the lowest position of the first sliding groove (143) is flush with the lowest position of the second sliding groove (144), the highest position of the first sliding groove (143) is flush with the highest position of the second sliding groove (144), the highest position of the first sliding groove (143) and the lowest position of the second sliding groove (144) are connected through the vertical groove (145), and the lowest position of the first sliding groove (143) and the highest position of the second sliding groove (144) are connected through the vertical groove (145); A sliding bolt (146) is installed inside the driving cavity (13), and the end of the sliding bolt (146) slides in the first sliding groove (143), the second sliding groove (144) and the vertical groove (145).

9. The buffered unloading robot grasping system for gypsum board gaskets according to claim 8, characterized in that: A vertical frame (147) is installed at the bottom of the driving chamber (13), a limiting rod (148) is installed on the vertical frame (147), a connecting spring (149) is provided between the vertical frame (147) and the bottom of the rotating seat (142), and the connecting spring (149) is wound around the outside of the limiting rod (148); A through hole for the limiting rod (148) to pass through is provided in the rotating drum (141) and the rotating seat (142), so that the limiting rod (148) is slidably connected with the rotating drum (141) and the rotating seat (142).

10. The buffered unloading robot grasping system for gypsum board gaskets according to claim 9, characterized in that: A second driving motor (1410) is installed on the main seat (1), a driving arc plate (1411) is connected to the driving end of the second driving motor (1410), and a transmission arc plate (1412) is connected to the rotating drum (141); The driving arc plate (1411) and the transmission arc plate (1412) are slidably engaged with each other in a vertical direction, so that the driving arc plate (1411) is driven to rotate when the transmission arc plate (1412) rotates.

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