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

Abstract

The present application relates to the technical field of rubber processing, in particular to a rotary positioning and weighing stacking device for rubber cold cutting rubber sheet, which comprises a movable base frame, a base body and a frame bottom plate connected slidingly, and an electric telescopic rod for driving the horizontal displacement of the base body, wherein the mechanical arm is fixed to the base body; a stack base component group, which comprises: a top plate provided with a load-bearing stack plate on the top; a weighbridge assembly for weighing the load of the top plate. The present application automatically realizes the switching and resetting of the support of the top plate between the weighbridge assembly and the supporting assembly through a pure mechanical linkage mechanism composed of a lower gear piece, a vertical screw rod piece and the like, and the continuous and stable support is accurately synchronized through gears and racks and the like, and the electric telescopic rod of the movable base frame drives the mechanical arm to avoid the space interference with the rotary stack plate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rubber processing, in particular to a rotating positioning and weighing stacking device for rubber cold cutting rubber sheets. BACKGROUND

[0002] In traditional stacking equipment, the stack plate is usually fixed and does not move. In order to cover the entire area of the stack plate (especially the four corner stations), the mechanical arm needs to have a larger rotation radius or multi-joint linkage capability. This not only increases the size and design complexity of the equipment, but also causes the positioning accuracy to decrease due to the increase in the end load, which indirectly increases the cost of the equipment. Therefore, the design of driving the stack plate to rotate to switch the stations has emerged as the times require. The stack plate rotates to switch different stacking stations to the core working range of the mechanical arm one by one. The mechanical arm only needs to complete the standardized grabbing and placing action in the fixed area, without the need to cover the entire space of the stack plate, which greatly reduces the design requirements for the movement range, joint flexibility and driving power of the mechanical arm.

[0003] In the rubber processing scene, the weighing function is the core requirement of the stacking link: on the one hand, real-time weighing is needed to ensure that the weight of the single stack plate rubber sheet meets the batch standard (to avoid overloading or underloading), and to provide accurate measurement basis for subsequent storage and transportation; on the other hand, the weighing data can be used for quality control, by monitoring the weight uniformity of each batch of rubber sheets to judge the stability of the cold cutting process, and triggering an automatic process (such as automatically changing the stack plate after the weight meets the standard), to ensure continuous and efficient production. Therefore, a weighing sensor must be provided below the stack plate to realize the above functions.

[0004] However, in the existing rotating stack plate design, the weighing sensor often directly participates in the support of the stack plate, which causes the following obvious shortcomings: when the stack plate rotates to switch stations, the vibration and torsion generated during the rotation will be directly transmitted to the weighing sensor, which can easily cause the sensor zero point to drift, the precision to decay, and even the service life to be shortened due to long-term impact, affecting the accuracy of batch weight measurement; at the same time, due to the size limitation of the stack plate, there is a space conflict between the stack plate and the mechanical arm during rotation, which makes it impossible to use a large-size stack plate. SUMMARY

[0005] In order to overcome the above technical problems, the purpose of the present application is to provide a rotating positioning and weighing stacking device for rubber cold cutting rubber sheets, to solve the problem of the existing rotating stack plate design that the weighing sensor is easily affected by the rotation vibration and torsion, resulting in precision decline and service life shortening.

[0006] To achieve the above purpose, the present application provides the following technical scheme:

[0007] A rotating positioning, weighing and stacking device for rubber cold-cut pieces, comprising a rubber piece, a pneumatic clamp, a mechanical arm and a conveying belt, the pneumatic clamp being installed on the working end of the mechanical arm for grabbing the rubber piece on the conveying belt, wherein the device further comprises: a movable base frame comprising a slidingly connected base body and a frame bottom plate, and an electric telescopic rod driving the horizontal displacement of the base body, the mechanical arm being fixed to the base body; a stack plate base component group comprising: a top plate provided with a bearing stack plate on the top; a weigher assembly for weighing the load of the top plate; an upper driving assembly comprising a vertical screw rod, a moving block engaged with the vertical screw rod, and a lower gear connected by driving; a supporting assembly comprising a vertically sliding inner supporting frame and an outer housing; a bottom driving assembly comprising a fixed gear ring frame and a gear ring engaged with the lower gear; a bottom plate provided with a reduction motor driving the rotation of the outer housing; a rotating trigger linkage mechanism: when the reduction motor drives the rotation of the outer housing, the fixed gear ring forces the lower gear to rotate, driving the vertical screw rod to rotate and drive the moving block to move downward, so that the weigher assembly is separated from the top plate, and at the same time the moving block drives the inner supporting frame to move upward to support the top plate; and the reverse driving of the vertical screw rod in the reset state makes the weigher assembly support the top plate again and the inner supporting frame move downward to reset.

[0008] Preferably, the weigher assembly comprises a frame, a weighing sensor and a weigher movable plate installed on the top of the weighing sensor, the weigher movable plate being vertically slidable along the frame.

[0009] Preferably, the upper driving assembly further comprises a stabilizing frame and an upper gear, the vertical screw rod being connected to the outer housing and the stabilizing frame at both ends, the lower gear being fixed to the bottom end of the vertical screw rod, and the moving block being engaged with the upper gear through a rack.

[0010] Preferably, the inner supporting frame is engaged with the upper gear through a rack and in sliding contact with the outer housing.

[0011] Preferably, the bottom driving assembly further comprises a driving motor provided at the bottom of the gear ring for actively driving the rotation of the gear ring in the reset stage.

[0012] Preferably, the electric telescopic rod drives the mechanical arm to move out of the way before the rotation of the stack plate and resets after the completion of the rotation.

[0013] Preferably, the stack plate carried by the top plate is divided into four diagonal workstations by a cross center line, and adjacent diagonal workstations are switched to the working area of the mechanical arm in turn when the stack plate rotates.

[0014] Preferably, the stabilizing frame of the upper driving assembly is fixedly connected to the outer housing at the bottom, and the vertical screw rod is rotatably connected to the outer housing through a bearing, forming a stable support for the transmission structure.

[0015] Preferably, the bottom of the gear ring of the bottom driving assembly is installed on the gear ring frame, and the driving motor is used to actively rotate the gear ring, providing power for the support switching in the reset stage.

[0016] 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.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 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.

[0019] 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.

[0020] 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

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the robotic arm and the movable base frame of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the pallet base component assembly of the present invention;

[0024] Figure 4 This is a cross-sectional structural schematic diagram of the pallet base component assembly of the present invention;

[0025] Figure 5 This is an enlarged structural schematic diagram of a partial cross-section of the pallet base component assembly of the present invention;

[0026] Figure 6 This is a schematic diagram of the upper transmission assembly of the present invention;

[0027] Figure 7 This is a schematic diagram of the internal structure of the pallet base component assembly of the present invention.

[0028] In the figure: 11, rubber sheet part; 12, pneumatic clamp; 13, mechanical arm; 14, conveying belt; 15, moving base frame; 151, base body; 152, frame bottom plate; 153, electric telescopic rod; 2, pallet base component group; 21, top plate; 22, platform scale assembly; 221, frame body; 222, weighing sensor; 223, platform scale moving plate; 23, upper transmission assembly; 231, vertical screw rod; 232, moving block; 233, stabilizing frame; 234, upper gear part; 235, lower gear part; 24, supporting assembly; 242, outer shell; 241, inner supporting frame; 25, bottom transmission assembly; 251, gear ring frame; 252, gear ring part; 26, bottom plate part. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0030] An embodiment provided by the present application comprises:

[0031] A rotating positioning and weighing stacking device for rubber cold-cut sheets, comprising a rubber sheet part 11, a pneumatic clamp 12, a mechanical arm 13 and a conveying belt 14, the pneumatic clamp 12 being installed at the working end of the mechanical arm 13, and the mechanical arm 13 and the pneumatic clamp 12 being controlled to discharge the rubber sheet part 11 on the conveying belt 14, wherein the device further comprises:

[0032] A pallet base component group 2 for placing a pallet for stacking rubber sheet parts 11, the pallet base component group 2 comprising a top plate 21, a platform scale assembly 22, an upper transmission assembly 23, a supporting assembly 24, a bottom transmission assembly 25 and a bottom plate part 26, the top plate 21 being installed on the platform scale assembly 22;

[0033] The platform scale assembly 22 is used for detecting the weight of the top plate 21, the platform scale assembly 22 comprising a frame body 221, a weighing sensor 222 being installed in the frame body 221, and a platform scale moving plate 223 being installed on the top of the weighing sensor 222, the platform scale moving plate 223 being used for sliding up and down in the frame body 221;

[0034] The upper transmission assembly 23 comprises a vertical screw rod 231, the vertical screw rod 231 is connected with a moving block 232 through a nut pair, one end of the vertical screw rod 231 is connected with a stabilizing frame 233 through a rotating shaft, the stabilizing frame 233 is connected with an upper gear piece 234 through a rotating shaft, one end of the vertical screw rod 231 is fixedly connected with a lower gear piece 235, the vertical screw rod 231 is connected with an outer shell 242 through a bearing, and the stabilizing frame 233 at the bottom of the upper transmission assembly 23 is fixedly connected on the outer shell 242.

[0035] The supporting assembly 24 comprises an inner supporting frame 241, the outer surface of the inner supporting frame 241 is in sliding contact with the outer shell 242, and the inner supporting frame 241 is used for sliding up and down in the outer shell 242.

[0036] The bottom transmission assembly 25 comprises a gear ring frame 251, the gear ring frame 251 is rotationally connected with a gear ring piece 252, the gear ring piece 252 is engaged with the lower gear piece 235, and the gear ring piece 252 is provided with a driving motor at the bottom, and the driving motor is installed on the gear ring frame 251.

[0037] The bottom plate 26 is in contact with the ground at the bottom, a speed reduction motor is installed in the bottom plate 26, the working end of the speed reduction motor is fixedly connected with the bottom of the outer shell 242, and the bottom plate 26 and the gear ring frame 251 are fixedly connected.

[0038] The moving block 232 is fixedly connected with the side wall of the frame body 221, the side, away from the frame body 221, of the moving block 232 is engaged with the upper gear piece 234 through a rack, and the inner supporting frame 241 is engaged with the upper gear piece 234 through a rack.

[0039] The moving base frame 15 comprises a base body 151, a frame bottom plate 152 and an electric telescopic rod 153, the mechanical arm 13 is installed on the base body 151, the frame bottom plate 152 is placed on the ground, the electric telescopic rod 153 is installed on the frame bottom plate 152, the base body 151 and the frame bottom plate 152 are connected through a track, and the electric telescopic rod 153 drives the base body 151 to slide on the frame bottom plate 152 when working.

[0040] The top plate 21 is used for placing a stack plate, the stack plate is used for stacking the rubber sheet piece 11, the size of the stack plate is same as the length and width of the rubber sheet piece 11, the four corner positions of the stack plate are used for stacking the rubber sheet piece 11, and the cross center line divides the stack plate into four corners a, b, c and d; after the rubber sheet piece 11 is stacked at the a corner position, the stack plate is rotated together by rotating the top plate 21 through the speed reduction motor in the bottom plate 26, at this time, the b corner moves to the interaction position of the mechanical arm 13, and the cycle is repeated until the stack plate is stacked with the rubber sheet piece 11.

[0041] In the process of reducing motor drive, the supporting assembly 24, the upper driving assembly 23, the ground bar assembly 22 and the top plate 21 in the stack base component group 2 will be driven to rotate together, and the gear ring frame 251 and the gear ring component 252 installed on the bottom plate 26 will be fixed. At this time, the moving lower gear component 235 will rotate due to the engagement with the gear ring component 252, and the moving block 232 will be driven to move downward by the vertical screw rod component 231. Before moving, the position of the moving block 232 is shown in Figure 5 When the moving block 232 moves downward, it will drive the connected frame 221 to move downward, and the connected ground bar movable plate 223 and the weighing sensor 222 will move downward together. At this time, the ground bar movable plate 223 will be in contact with the bottom of the top plate 21. At the same time, the moving block 232 drives the inner supporting frame 241 to move upward through the rack and the upper gear component 234. When the inner supporting frame 241 moves upward, it will contact the bottom of the top plate 21, thereby supporting the top plate 21.

[0042] After the stack plate pile position on the top plate 21 is controlled and the angle is switched from A to B, the driving motor at the bottom of the gear ring component 252 is controlled to drive the vertical screw rod component 231 to reverse, thereby driving the ground bar assembly 22 and the inner supporting frame 241 to reset. After resetting, the ground bar assembly 22 still supports the top plate 21.

[0043] In the process of switching the angle of the stack plate, the pneumatic clamp 12 used for weighing is controlled to release the support of the top plate 21, and the inner supporting frame 241 is replaced to support it. After the angle position is replaced, the ground bar assembly 22 and the inner supporting frame 241 are controlled to reset, and the ground bar assembly 22 continues to support the top plate 21, thereby being able to continue to weigh the stack plate and the rubber sheet component 11 on it.

[0044] When the stack plate is switched at each angle, the electric telescopic rod 153 is controlled to start to drive the base body 151 to slide on the rack bottom plate 152, so as to avoid the rotation of the stack plate. After the stack plate is adjusted in place, the electric telescopic rod 153 is used to reset the base body 151.

[0045] Working principle:

[0046] Initial state and stacking: The conveyor belt 14 conveys the rubber sheet component 11. The pneumatic clamp 12 at the end of the mechanical arm 13 grabs the rubber sheet component 11 and places it in the A angle position of the stack plate carried by the top plate 21 of the stack base component group 2. At this time, the ground bar movable plate 223 supports the top plate 21, and the weighing sensor 222 monitors the total weight of the stack plate and the material in real time. The inner supporting frame 241 is in a low position and does not contact the top plate 21.

[0047] A angle full trigger rotation: after the A angle is full, the system starts the rotation process. First, the electric telescopic rod 153 pulls the base body 151 of the moving base frame 15 to slide along the frame bottom plate 152, driving the mechanical arm 13 to avoid as a whole. At the same time, the reduction motor in the bottom plate piece 26 starts to drive the connected shell body 242 and the whole upper structure including the top plate 21, the weight assembly 22, the upper transmission assembly 23, and the supporting assembly 24 to start rotating.

[0048] Rotary linkage switching support: when the upper structure rotates, the gear ring piece 252 fixed on the gear ring frame 251 of the bottom plate piece 26 remains stationary. The rotating lower gear piece 235 engages with the gear ring piece 252, forcing the lower gear piece 235 to rotate, driving the vertical screw rod piece 231 to rotate. The rotation of the vertical screw rod piece 231 drives the moving block 232 connected with its nut pair to move downward. The downward movement of the moving block 232 drives the fixedly connected frame body 221 and the whole weight assembly 22 to move downward, so that the weight movable plate 223 is separated from the bottom of the top plate 21. At the same time, the moving block 232 drives the upper gear piece 234 to rotate through the rack, and the upper gear piece 234 drives the inner supporting frame 241 to slide upward in the outer shell body 242 through the rack, until the top of the inner supporting frame 241 contacts and supports the bottom of the top plate 21. At this time, the support is seamlessly switched from the weight assembly 22 to the supporting assembly 24.

[0049] Rotation to position B: the reduction motor drives the upper structure to rotate 180 degrees, so that the original B angle of the pallet reaches the working position.

[0050] Reset support and mechanical arm return: after rotation to position, the drive motor at the bottom of the gear ring piece 252 starts to drive the gear ring piece 252 to rotate. The gear ring piece 252 drives the lower gear piece 235 engaged therewith to reverse rotation, thereby driving the vertical screw rod piece 231 to reverse. The reverse rotation of the vertical screw rod piece 231 drives the moving block 232 to move upward, pushing the whole weight assembly 22 to move upward, so that the weight movable plate 223 recontacts the bottom of the top plate 21. At the same time, the moving block 232 drives the upper gear piece 234 to reverse through the rack, driving the inner supporting frame 241 to slide downward and separate from the bottom of the top plate 21. The support is switched back to the weight assembly 22. At the same time, the electric telescopic rod 153 is retracted, pulling the base body 151 and the mechanical arm 13 to reset.

[0051] Circulating stacking: the mechanical arm 13 starts to stack at the B angle, and the system returns to the initial state. Repeat the above process to complete the stacking of the C angle and the D angle in turn.

[0052] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims with respect to the figures of the patent document.

Claims

1. A rotating positioning, weighing and stacking device for rubber cold cut pieces, comprising a rubber piece, a pneumatic clamp, a mechanical arm and a conveyor belt, said pneumatic clamp being installed on the working end of the mechanical arm for grabbing the rubber piece on the conveyor belt, characterized in that, Also include: Mobile base frame, including slidingly connected base body and frame bottom plate, and electric telescopic rod driving horizontal displacement of base body, the mechanical arm is fixed to the base body; Pallet base component group, the pallet base component group includes: Top plate: its top is used for bearing pallet; weight assembly: for weighing top plate load; upper drive assembly: including vertical screw rod, moving block engaged with vertical screw rod and lower gear; supporting assembly: including vertically sliding inner supporting frame and outer shell; bottom drive assembly: including gear ring frame and gear ring engaged with lower gear; Bottom plate: provided with a reduction motor driving the rotation of the outer shell; Rotary trigger linkage mechanism: when the reduction motor drives the rotation of the outer shell, the gear ring forces the lower gear to rotate, driving the vertical screw rod to rotate and drive the moving block to move down, so that the weight assembly is separated from the top plate, while the moving block drives the inner supporting frame to move up and support the top plate; reverse drive the vertical screw rod to reset the weight assembly to support the top plate and the inner supporting frame to reset.

2. The rotating positioning, weighing and stacking device for rubber cold cut pieces according to claim 1, characterized in that: The weight assembly includes a frame, a weighing sensor and a weight movable plate installed on the top of the weighing sensor, which can vertically slide along the frame.

3. The rotating positioning, weighing and stacking device for rubber cold cut pieces according to claim 1, characterized in that: The upper drive assembly further includes a stabilizing frame and an upper gear, the vertical screw rod is connected to the outer shell and the stabilizing frame at both ends, the lower gear is fixed to the bottom end of the vertical screw rod, and the moving block is engaged with the upper gear through a rack.

4. The rotating positioning, weighing and stacking device for rubber cold cut pieces according to claim 1, characterized in that: The inner supporting frame is engaged with the upper gear through a rack, and is in sliding contact with the outer shell.

5. The rotating positioning, weighing and stacking device for rubber cold cut pieces according to claim 1, characterized in that: The bottom drive assembly further includes a drive motor provided at the bottom of the gear ring, which is used to actively drive the gear ring to rotate in the reset stage.

6. A rotating positioning, weighing and stacking device for rubber cold cut pieces according to claim 1, characterized in that: The electric telescopic rod drives the mechanical arm to move out of the way before the pallet rotates, and resets after the rotation is completed.

7. The rotating positioning, weighing and stacking device for cold rubber sheet according to claim 1, characterized in that: The pallet carried by the top plate is divided into four diagonal workstations by a cross centerline, and the adjacent diagonal workstations are switched to the working area of the mechanical arm in turn when the pallet rotates.

8. The rotating positioning, weighing and stacking device for rubber cold cut pieces according to claim 1, characterized in that: The stabilizing frame of the upper drive assembly is fixedly connected to the outer shell at the bottom, and the vertical screw rod is rotatably connected to the outer shell through a bearing, forming a stable support of the transmission structure.

9. The rotating positioning, weighing and stacking device for rubber cold cut pieces according to claim 1, characterized in that: The gear ring of the bottom drive assembly is installed on the gear ring frame, and the active rotation of the gear ring is realized through the drive motor, providing power for the support switching in the reset stage.

10. The rotating positioning, weighing and stacking device for cold-cut rubber pieces according to claim 1, characterized in that: The sliding contact surface between the inner supporting frame and the outer shell is provided with a guide sliding block.

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