Rotary positioning, weighing and stacking device for cold-cut rubber sheets

Abstract

The invention relates to the technical field of rubber processing, in particular to a rotary positioning, weighing and stacking device for cold-cut rubber sheets, which comprises a movable base frame comprising a base body, a frame bottom plate and an electric telescopic rod, the base body and the frame bottom plate are in sliding connection, the electric telescopic rod drives the base body to move horizontally, and a mechanical arm is fixedly arranged on the base body; the pallet base component group comprises a top plate, a bottom plate and a bottom plate; the top of the top plate is provided with a bearing pallet; and the wagon balance assembly is used for weighing the load of the top plate. Through a pure mechanical linkage mechanism formed by a lower gear piece, a vertical lead screw piece and the like, switching and resetting of a top plate support between a weighing assembly and a bearing assembly are automatically achieved through rotation action, continuous and stable supporting is guaranteed accurately and synchronously through a gear, a rack and the like, meanwhile, an electric telescopic rod of a movable base frame drives a mechanical arm to avoid, and the mechanical arm is fixed. And the space interference with the rotary pallet is solved.

Description

Technical Field

[0001] This invention relates to the field of rubber processing technology, specifically to a rotary positioning, weighing, and stacking device for cold-cut rubber sheets. Background Technology

[0002] In traditional palletizing equipment, the pallets are usually fixed. To cover the entire area of ​​the pallet (especially the four corner stations), the robotic arm needs a larger rotation radius or multi-joint linkage capability. This not only increases the size and design complexity of the equipment, but also leads to a decrease in positioning accuracy due to the increased end-effector load, indirectly driving up the equipment cost. To address this, a design that achieves station switching by driving the pallet to rotate has emerged. The pallet rotates itself to sequentially switch different stacking stations to the core working area of ​​the robotic arm. The robotic arm only needs to complete standardized grasping and placement actions within a fixed area, without needing to cover the entire pallet space, significantly reducing the design requirements for the robotic arm's range of motion, joint flexibility, and drive power.

[0003] In rubber processing, weighing is a core requirement in the palletizing process. On one hand, real-time weighing ensures that the weight of each pallet of rubber sheets meets batch standards (avoiding overloading or underloading), providing accurate measurement data for subsequent warehousing and transportation. On the other hand, weighing data can be used for quality control, monitoring the weight uniformity of each batch of rubber sheets to assess the stability of the cold-cutting process, and triggering automated processes (such as automatically changing pallets after the weight meets the standard), ensuring continuous and efficient production. Therefore, weighing sensors must be installed under the pallets to achieve these functions.

[0004] However, in existing rotating pallet designs, load cells often directly participate in pallet support, resulting in significant drawbacks: when the pallet rotates to switch workstations, the vibration and torque generated during the rotation are directly transmitted to the load cells, which can easily cause zero-point drift, accuracy degradation, and even shorten the service life due to long-term impact, affecting the accuracy of batch weight measurement; at the same time, due to the size limitations of the pallet, there is a space conflict between the pallet and the robotic arm when the pallet rotates, making it impossible to use large-sized pallets. Summary of the Invention

[0005] In order to overcome the above-mentioned technical problems, the present invention aims to provide a rotary positioning, weighing and palletizing device for cold-cut rubber sheets, so as to solve the problem that the weighing sensor in the existing rotary pallet design mentioned in the background art is easily affected by rotational vibration and torque, resulting in decreased accuracy and shortened life.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A rotary positioning, weighing, and palletizing device for cold-cut rubber sheets includes rubber sheets, pneumatic grippers, a robotic arm, and a conveyor belt. The pneumatic grippers are mounted on the working end of the robotic arm for gripping the rubber sheets on the conveyor belt. The device further includes: a movable base frame comprising a slidably connected base body and a frame base plate, and an electrically operated telescopic rod for driving the horizontal displacement of the base body; the robotic arm is fixed to the base body; and a pallet base assembly comprising: a top plate with a pallet support on its top; a weighing assembly for weighing the load on the top plate; and an upper transmission assembly including a vertical lead screw and a component engaged with the vertical lead screw. The weighbridge assembly includes a moving block and a lower gear connected to the drive mechanism; a support assembly comprising a vertically sliding inner support frame and an outer shell; a bottom transmission assembly comprising a fixed gear ring frame and a gear ring meshing with the lower gear; a base plate comprising a geared motor that drives the outer shell to rotate; and a rotation trigger linkage mechanism: when the geared motor drives the outer shell to rotate, the fixed gear ring forces the lower gear to rotate, causing the vertical lead screw to rotate and drive the moving block to move downward, thus detaching the weighbridge assembly from the top plate. Simultaneously, the moving block drives the inner support frame to move upward to support the top plate. During reset, the vertical lead screw is reversed to cause the weighbridge assembly to support the top plate again, and the inner support frame moves downward to reset.

[0007] Preferably, the weighbridge assembly includes a frame, a load cell, and a weighbridge movable plate mounted on top of the load cell, the weighbridge movable plate being able to slide vertically along the frame.

[0008] Preferably, the upper transmission assembly further includes a stabilizer and an upper gear component. The two ends of the vertical lead screw are respectively connected to the outer shell and the stabilizer. The lower gear component is fixed to the bottom end of the vertical lead screw component, and the moving block meshes with the upper gear component through a rack.

[0009] Preferably, the inner support bracket engages with the gear component via a rack and pinion and slides in contact with the outer casing.

[0010] Preferably, the bottom transmission assembly further includes a drive motor located at the bottom of the gear ring component, used to actively drive the gear ring component to rotate during the reset phase.

[0011] Preferably, the electric telescopic rod drives the robotic arm to move and avoid the obstacle before the pallet rotates, and resets after rotation is completed.

[0012] Preferably, the pallet supported by the top plate is divided into four diagonal workstations by a cross center line, and when the pallet rotates, the adjacent diagonal workstations are switched to the working area of ​​the robotic arm in sequence.

[0013] Preferably, the bottom of the stabilizing frame of the upper transmission assembly is fixedly connected to the outer shell, and the vertical screw rod is rotatably connected to the outer shell through a bearing to form a stable support for the transmission structure.

[0014] Preferably, the bottom of the gear ring component of the bottom transmission assembly is mounted on the gear ring frame, and the gear ring component is actively rotated by a drive motor to provide power for the support switching during the reset phase.

[0015] Preferably, the sliding contact surface between the inner support bracket and the outer shell is provided with a guide slider to ensure the straightness and stability of the inner support bracket when it moves vertically.

[0016] Compared with the prior art, the beneficial effects of the present invention are: The pure mechanical linkage mechanism triggered by rotation, consisting of a lower gear, a vertical screw, a moving block, an upper gear, and an inner support frame, automatically switches the top plate support from the precision weighbridge components to the robust support components as soon as rotation begins. This effectively isolates the impact and damage to the weighing sensor from rotational vibration and torsion, significantly improving weighing accuracy and sensor lifespan. The rotational motion itself drives the switching of the support state, and the rotational reset motion drives the restoration of the support state. The entire process is fully automated and requires no additional control steps, ensuring a continuous and efficient stacking process. The switching and reset processes are precisely synchronized through gears, racks, and lead screws to ensure the continuity and stability of the top plate support. The electric telescopic rod of the movable base frame drives the robotic arm to avoid obstacles in a timely manner, coordinating with the rotation of the pallet to perfectly solve the spatial interference problem between the robotic arm and the rotating pallet. Attached Figure Description

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the robotic arm and the movable base frame of the present invention; Figure 3 This is a schematic diagram of the structure of the pallet base component assembly of the present invention; Figure 4 This is a cross-sectional structural schematic diagram of the pallet base component assembly of the present invention; Figure 5 This is an enlarged structural schematic diagram of a partial cross-section of the pallet base component assembly of the present invention; Figure 6 This is a schematic diagram of the upper transmission assembly of the present invention; Figure 7 This is a schematic diagram of the internal structure of the pallet base component assembly of the present invention.

[0018] In the diagram: 11. Rubber sheet component; 12. Pneumatic clamp; 13. Robotic arm; 14. Conveyor belt; 15. Mobile base frame; 151. Base body; 152. Frame base plate; 153. Electric telescopic rod; 2. Pallet base component assembly; 21. Top plate; 22. Weighbridge assembly; 221. Frame; 222. Weighing sensor; 223. Weighbridge moving plate; 23. Upper transmission assembly; 231. Vertical screw component; 232. Moving block; 233. Stabilizer; 234. Upper gear component; 235. Lower gear component; 24. Support assembly; 242. Outer shell; 241. Inner support frame; 25. Bottom transmission assembly; 251. Gear ring frame; 252. Gear ring component; 26. Base plate component. Detailed Implementation

[0019] 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.

[0020] One embodiment provided by the present invention: A rotary positioning, weighing, and stacking device for cold-cut rubber sheets includes a rubber sheet 11, a pneumatic clamp 12, a robotic arm 13, and a conveyor belt 14. The pneumatic clamp 12 is mounted on the working end of the robotic arm 13. The device controls the robotic arm 13 and the pneumatic clamp 12 to feed the rubber sheet 11 onto the conveyor belt 14. The device also includes: The pallet base component group 2 is used to place the pallet for stacking rubber sheet parts 11. The pallet base component group 2 includes a top plate 21, a weighbridge assembly 22, an upper transmission assembly 23, a support assembly 24, a bottom transmission assembly 25, and a bottom plate 26. The top plate 21 is installed on the weighbridge assembly 22. The weighbridge assembly 22 is used to detect the weight of the top plate 21. The weighbridge assembly 22 includes a frame 221, a weighing sensor 222 is installed inside the frame 221, and a weighbridge moving plate 223 is installed on the top of the weighing sensor 222. The weighbridge moving plate 223 is used to slide up and down in the frame 221. The upper transmission assembly 23 includes a vertical lead screw 231, which is connected to a moving block 232 via a nut pair. One end of the vertical lead screw 231 is connected to a stabilizer 233 via a rotating shaft. An upper gear 234 is connected inside the stabilizer 233 via a rotating shaft. One end of the vertical lead screw 231 is fixedly connected to a lower gear 235. The vertical lead screw 231 is connected to the outer shell 242 via a bearing. The bottom of the stabilizer 233 in the upper transmission assembly 23 is fixedly connected to the outer shell 242. The support assembly 24 includes an inner support frame 241, the outer surface of which slides in contact with the outer shell 242, and the inner support frame 241 is used to slide up and down within the outer shell 242. The bottom transmission assembly 25 includes a gear ring frame 251, a gear ring component 252 rotatably connected to the gear ring frame 251, a lower gear component 235 meshing with the gear ring component 252, and a drive motor provided at the bottom of the gear ring component 252, and the drive motor is mounted on the gear ring frame 251. The bottom of the base plate 26 contacts the ground, and a geared motor is installed in the base plate 26. The working end of the geared motor is fixedly connected to the bottom of the outer shell 242. The base plate 26 and the gear ring frame 251 are fixedly connected. The movable block 232 is fixedly connected to the side wall of the frame 221. The side of the movable block 232 away from the frame 221 is engaged with the upper gear 234 through a rack. The inner support bracket 241 is engaged with the upper gear 234 through a rack. The mobile base frame 15 includes a base body 151, a base plate 152, and an electric telescopic rod 153. The robotic arm 13 is mounted on the base body 151, the base plate 152 is placed on the ground, and the electric telescopic rod 153 is mounted on the base plate 152. The base body 151 and the base plate 152 are connected by a track. When the electric telescopic rod 153 is working, it drives the base body 151 to slide on the base plate 152.

[0021] The top plate 21 is used to place a pallet, on which rubber sheet 11 is stacked. The dimensions of the pallet are the same as the length and width of the rubber sheet 11. The four corners of the pallet are used to stack rubber sheet 11. The cross center line divides the pallet into four corners: a, b, c, and d. After the rubber sheet 11 is stacked at corner a, the top plate 21 is rotated by the reduction motor in the drive base plate 26, which drives the pallet to rotate together. At this time, corner b moves to the position that interacts with the robotic arm 13. This cycle repeats until the pallet is full of rubber sheet 11.

[0022] When driven by the geared motor, the support assembly 24, upper transmission assembly 23, weighbridge assembly 22, and top plate 21 in the pallet base component group 2 will be driven to rotate together, while the gear ring frame 251 and gear ring component 252 installed on the base plate component 26 will remain stationary. At this time, the moving lower gear component 235 will rotate due to meshing with the gear ring component 252, thereby driving the moving block 232 to move downward through the vertical screw component 231. The position of the moving block 232 before movement is as follows: Figure 5As shown, when the moving block 232 moves down, it will drive the connected frame 221 to move down. The movement of the frame 221 will drive the connected weighbridge moving plate 223 and the weighing sensor 222 to move down together. At this time, the weighbridge moving plate 223 will release its contact with the bottom of the top plate 21. While the moving block 232 moves down, the moving block 232 will drive the inner support frame 241 to move up through the rack and pinion and the upper gear 234. When the inner support frame 241 moves up, it will contact the bottom of the top plate 21, thereby supporting the top plate 21.

[0023] After switching the pallet stacking position on the top plate 21 from corner A to corner B, the drive motor at the bottom of the gear ring component 252 drives the vertical screw component 231 to reverse, thereby driving the weighbridge component 22 and the inner support frame 241 to reset. After resetting, the weighbridge component 22 is still responsible for supporting the top plate 21.

[0024] In this design, during the process of changing the angle of the pallet, the pneumatic clamp 12 used for weighing is controlled to release its support on the top plate 21, and the inner support frame 241 is replaced to support it. After the angle position is changed, the weighbridge assembly 22 and the inner support frame 241 are controlled to reset, and the weighbridge assembly 22 continues to support the top plate 21, so that the pallet and the rubber sheet 11 on it can continue to be weighed.

[0025] Each time the pallet changes angle, the electric telescopic rod 153 is activated to drive the base body 151 to slide on the frame base plate 152, so as to avoid the rotation of the pallet. After the pallet is adjusted to the correct position, the electric telescopic rod 153 is used to reset the base body 151.

[0026] Working principle: Initial state and material stacking: Conveyor belt 14 conveys rubber sheet 11. Pneumatic gripper 12 at the end of robotic arm 13 grasps the rubber sheet 11 and places it at corner A of the pallet on the top plate 21 of pallet base assembly 2. At this time, the weighbridge moving plate 223 supports the top plate 21, and the weighing sensor 222 monitors the total weight of the pallet and materials in real time. The inner support frame 241 is in a low position and does not contact the top plate 21.

[0027] Corner A full triggers rotation: Once corner A is full, the system initiates the rotation process. First, the electric telescopic rod 153 pulls the base body 151 of the movable base frame 15 to slide along the base plate 152, causing the robotic arm 13 to move aside. Simultaneously, the reduction motor inside the base plate 26 starts, driving the connected outer shell 242 and the entire upper structure, including the top plate 21, the weighbridge assembly 22, the upper transmission assembly 23, and the support assembly 24, to begin rotating.

[0028] Rotational linkage switching support: When the upper structure rotates, the gear ring 252 fixed to the gear ring frame 251 on the base plate 26 remains stationary. The rotating lower gear 235 meshes with the gear ring 252, forcing the lower gear 235 to rotate, which in turn drives the vertical lead screw 231 to rotate. The rotation of the vertical lead screw 231 drives the moving block 232 connected to its nut pair to move downward. The downward movement of the moving block 232 causes the fixedly connected frame 221 and the entire weighbridge assembly 22 to move downward, causing the weighbridge moving plate 223 to detach from the bottom of the top plate 21. At the same time, the moving block 232 drives the upper gear 234 to rotate via the rack, and the upper gear 234 then drives the inner support frame 241 to slide upward within the outer shell 242 via the rack until the top of the inner support frame 241 contacts and supports the bottom of the top plate 21. At this point, the support seamlessly switches from the weighbridge assembly 22 to the support assembly 24.

[0029] Rotation to position B corner: The geared motor drives the upper structure to rotate 180 degrees, so that the original B corner of the pallet reaches the working position.

[0030] Reset Support and Robotic Arm Return: After rotation to the final position, the drive motor at the bottom of the gear ring 252 starts, driving the gear ring 252 to rotate. The gear ring 252 drives the lower gear 235, which meshes with it, to rotate in the opposite direction, thereby driving the vertical lead screw 231 to reverse. The reverse rotation of the vertical lead screw 231 drives the moving block 232 to move upward, pushing the entire weighbridge assembly 22 to rise, so that the weighbridge moving plate 223 re-contacts the bottom of the top plate 21. At the same time, the moving block 232 drives the upper gear 234 to reverse through the rack, causing the inner support frame 241 to slide downward and disengage from the bottom of the top plate 21. The support switches back to the weighbridge assembly 22. Simultaneously, the electric telescopic rod 153 retracts, pulling the base body 151 and the robotic arm 13 back to their original positions.

[0031] Cyclic stacking: Robotic arm 13 begins stacking material towards corner B, and the system returns to its initial state. Repeat the above process to complete the stacking of material at corners C and D in sequence.

[0032] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A rotary positioning, weighing, and stacking device for cold-cut rubber sheets, comprising rubber sheets, pneumatic grippers, a robotic arm, and a conveyor belt, wherein the pneumatic grippers are mounted on the working end of the robotic arm for gripping the rubber sheets on the conveyor belt, characterized in that, Also includes: A movable base frame includes a base body and a frame base plate that are slidably connected, and an electric telescopic rod that drives the base body to move horizontally. The robotic arm is fixed to the base body. Pallet base component assembly, the pallet base component assembly comprising: Top plate: It has a load-bearing pallet on its top; Weighbridge assembly: Used to weigh the load on the top plate; Upper transmission assembly: Includes a vertical lead screw, a moving block meshing with the vertical lead screw, and a lower gear connected to the drive; Support assembly: Includes an inner support frame that can slide vertically and an outer shell; Bottom transmission assembly: Includes a fixed gear ring frame and a gear ring meshing with the lower gear. Base plate: Equipped with a geared motor that drives the outer casing to rotate; Rotation trigger linkage mechanism: When the geared motor drives the outer shell to rotate, the fixed gear ring component forces the lower gear component to rotate, which drives the vertical screw component to rotate and drive the moving block to move down, so that the weighbridge component is separated from the top plate. At the same time, the moving block drives the inner support frame to move up to support the top plate. When resetting, the vertical screw component is driven in the opposite direction to make the weighbridge component support the top plate again and the inner support frame moves down to reset.

2. The rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The weighbridge assembly includes a frame, a load cell, and a weighbridge movable plate mounted on top of the load cell. The weighbridge movable plate can slide vertically along the frame.

3. The rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The upper transmission assembly also includes a stabilizer and an upper gear. The two ends of the vertical lead screw are respectively connected to the outer shell and the stabilizer. The lower gear is fixed to the bottom end of the vertical lead screw. The moving block meshes with the upper gear through a rack.

4. The rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The inner support bracket engages with the gear component via a rack and pinion and slides in contact with the outer casing.

5. The rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The bottom transmission assembly also includes a drive motor located at the bottom of the gear ring component, used to actively drive the gear ring component to rotate during the reset phase.

6. The rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The electric telescopic rod drives the robotic arm to move and avoid the obstacle before the pallet rotates, and resets after the rotation is completed.

7. The rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The pallet supported by the top plate is divided into four diagonal workstations by a cross center line. When the pallet rotates, the adjacent diagonal workstations are switched to the working area of ​​the robotic arm in sequence.

8. The rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The bottom of the stabilizing frame of the upper transmission assembly is fixedly connected to the outer shell, and the vertical screw rod is rotatably connected to the outer shell through bearings to form a stable support for the transmission structure.

9. The rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The bottom gear ring component of the bottom transmission assembly is mounted on the gear ring frame, and the gear ring component is actively rotated by a drive motor, providing power for the support switching during the reset phase.

10. A rotary positioning, weighing, and stacking device for cold-cut rubber sheets according to claim 1, characterized in that: The sliding contact surface between the inner support bracket and the outer shell is equipped with a guide slider to ensure the straightness and stability of the inner support bracket when it moves vertically.

Images