PVC (polyvinyl chloride) product waste discharge processing visual workstation based on manipulator

Abstract

The invention belongs to the technical field of PVC (polyvinyl chloride) product production, and particularly relates to a manipulator-based PVC product waste discharge processing visual workstation which comprises a worktable, two groups of fixing frames and mechanical arms are fixedly connected to the top of the worktable, image recognition modules are mounted on the fixing frames, and clamping jaws are mounted at free ends of the mechanical arms. A set of adsorption platforms corresponding to the mechanical arms in position are installed in the middle of the workbench, electric reels are installed on the two sides of the workbench respectively, a control screen is further fixedly connected to the corner of the top of the workbench, a pair of notches is formed in the front end of the workbench, and waste boxes are placed in the notches. The PVC product is automatically pulled into the production carriage through the electric reel, the mechanical arm is matched with the clamping jaw to complete center waste discharge, the product is automatically wound after waste discharge is completed, high automation is achieved in the whole process, the waste discharge efficiency is greatly improved, manual intervention is reduced, and the labor cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of PVC product manufacturing technology, and in particular to a visual workstation for PVC product waste removal and processing based on a robotic arm. Background Technology

[0002] In the production and processing of PVC products, the waste removal process is a key link to ensure product quality and production efficiency. For example, the waste removal process for container markings involves removing the core of numbers, symbols or patterns on the markings to make them hollow.

[0003] Traditional waste removal from PVC products mainly relies on manual operation or simple mechanical devices. Manual waste removal is not only inefficient, but also prone to problems such as incomplete waste removal and high labor costs. Therefore, developing an automated PVC product waste removal and processing visualization workstation is of great practical significance. Summary of the Invention

[0004] Based on the technical problems existing in the prior art, this invention proposes a visual workstation for waste disposal and processing of PVC products based on a robotic arm.

[0005] This invention proposes a visualized workstation for PVC product waste removal processing based on a robotic arm. The workstation includes a workbench with two sets of fixed frames and a robotic arm fixedly connected to its top. An image recognition module is mounted on the fixed frames, and grippers are mounted on the free ends of the robotic arms. A set of adsorption platforms corresponding to the positions of the robotic arms is installed in the middle of the workbench. Electric rollers are installed on both sides of the workbench, and a control panel is fixedly connected to the corner of the top of the workbench. A pair of notches are provided at the front of the workbench, with waste bins placed inside. PVC products are automatically pulled into a transparent production carriage by the two electric rollers, then positioned by the adsorption platforms. The image recognition module identifies the position of the letter cores, and the robotic arm presses and picks out the letter cores from the PVC products on the adsorption platforms via a slide rail, removing them and collecting them in the waste bins. After waste removal, the PVC products are automatically rewound from the production carriage by a rotary extraction system.

[0006] Preferably, the gripper includes a slide rail fixedly connected to the free end of the robotic arm. A set of sliders is slidably connected inside the slide rail. A lower clamping plate and an electric push rod are fixedly connected to the sliders. An upper clamping plate that cooperates with the lower clamping plate is fixedly connected to the output shaft of the electric push rod. A bidirectional lead screw is rotatably connected inside the slide rail. The bidirectional lead screw is threadedly connected to the two sliders respectively. A motor is fixedly connected to the end of the slide rail. The output shaft of the motor is fixedly connected to the end of the bidirectional lead screw. By cooperating with the robotic arm and the lower clamping plate, the edge of the character core can be lifted first. Then, the output shaft of the electric push rod drives the upper clamping plate to approach the lower clamping plate to clamp the character core. Finally, the character core can be removed by the robotic arm and the gripper. By driving the bidirectional lead screw to rotate by the output shaft of the motor, the distance between the two lower clamping plates can be adjusted, thereby facilitating the gripper to clamp the character core from multiple points.

[0007] Preferably, peeling boxes are fixedly connected to both sides of the rear end of the workbench. Three peeling rollers arranged side by side are rotatably connected to the outlet of the peeling box. Each peeling roller is fixedly fitted with a gear, and two adjacent gears are meshed together. A second motor is fixedly connected inside the peeling box. A pulley is installed on the output shaft of the second motor and one of the peeling rollers. The two pulleys are connected by a belt. First, the distance between the upper clamping plate and the lower clamping plate is adjusted by the electric push rod so that the distance between the upper clamping plate and the lower clamping plate is exactly equal to the width of the middle peeling roller. Then, the gripper is moved to the outlet of the peeling box by the robotic arm so that the upper clamping plate and the lower clamping plate are respectively located between two adjacent peeling rollers. Then, the second motor is started. The output shaft of the second motor will drive the middle peeling roller to rotate through the transmission of the pulley and the belt. Then, the multiple peeling rollers rotate synchronously through the transmission of the gears. In this way, the peeling rollers will squeeze the upper clamping plate and the lower clamping plate and then peel off the residual glue on the upper clamping plate and the lower clamping plate.

[0008] Preferably, the adsorption platform includes a perforated plate and a cover plate installed in the slot, and a vacuum pump connected to the bottom of the cover plate is fixedly connected to the cover plate; when the vacuum pump is started, the vacuum pump will create a negative pressure at the perforated plate, thereby generating an adsorption force on the PVC product and positioning it.

[0009] Preferably, a visual workstation for PVC product waste disposal based on a robotic arm further includes: an adsorption force acquisition module, installed on the upper surface of the perforated plate, for real-time monitoring of the adsorption force generated by the adsorption platform, and generating an adsorption force deviation coefficient through a central processing unit in the control panel; a vibration acquisition module, installed on the perforated plate, for real-time monitoring of the vibration amplitude of the adsorption platform, and generating a vibration influence factor through a central processing unit; the central processing unit performs comprehensive analysis on the generated adsorption force deviation coefficient and vibration influence factor to generate an evaluation coefficient, determines whether the adsorption platform needs to strengthen the adsorption force on the PVC product, compares the evaluation coefficient with a pre-set evaluation coefficient reference threshold, and controls the working state of the adsorption platform based on the comparison result.

[0010] Preferably, the output and input ends of the adsorption force acquisition module and the output and input ends of the vibration acquisition module are electrically connected to the input and output ends of the central processing unit, respectively, and the output end of the central processing unit is electrically connected to the input end of the vacuum pump.

[0011] Preferably, the execution steps of the central processing unit controlling the working state of the adsorption platform based on the comparison results are as follows:

[0012] Real-time monitoring: The vibration acquisition module collects the vibration amplitude of the adsorption platform; the adsorption force acquisition module collects the adsorption force generated by the adsorption platform.

[0013] Coefficient Calculation: The central processing unit calculates the adsorption force deviation coefficient, vibration influence factor, and evaluation coefficient;

[0014] Dynamic adjustment: If C 评 <C 阈 : Maintain the current parameters; if C 评 ≥C 阈 Increase the power of the vacuum pump.

[0015] Preferably, the logic for generating the adsorption force deviation coefficient is as follows:

[0016] S1. The actual adsorption force of the adsorption platform when the robotic arm uses the grippers to remove the letter core is obtained through the adsorption force acquisition module and denoted as F. 吸 Calculate F 吸 and F 设 The absolute deviation is then normalized, and finally converted to an exponential function.

[0017] S2. Calculate the adsorption force deviation coefficient. The expression for the calculation is:

[0018]

[0019] In the formula, F 设 The target adsorption force is preset.

[0020] Preferably, the generation logic of the vibration influence factor is as follows:

[0021] S1. The actual vibration amplitude of the adsorption platform at different times within time T when the robotic arm uses the gripper to remove the character core is obtained through the vibration acquisition module. The actual vibration amplitude obtained at time i within time T is calibrated as A. 振,i i = 1, 2, 3, 4, ..., N, where N is a positive integer;

[0022] S2. Calculate the vibration influence factor. The expression for the calculation is:

[0023]

[0024] In the formula, This represents the average vibration amplitude.

[0025] Preferably, the central processing unit performs formulaic analysis based on the following formula:

[0026]

[0027] C 评 The evaluation coefficients are α and β, which are preset weighting coefficients, and α + β = 1.

[0028] Compared with existing technologies, this invention provides a visual workstation for waste disposal and processing of PVC products based on a robotic arm, which has the following advantages:

[0029] 1. A visual workstation for waste removal processing of PVC products based on a robotic arm. This invention automatically pulls PVC products into the production carriage through an electric reel, and uses a robotic arm in conjunction with grippers to complete the waste removal of the letter cores. After the waste removal is completed, the products are automatically rewound. The whole process is highly automated, which greatly improves the waste removal efficiency, reduces manual intervention, and lowers labor costs.

[0030] 2. A visual workstation for waste removal and processing of PVC products based on a robotic arm, comprising a residual adhesive cleaning structure consisting of a peeling box, peeling roller, gears, motor, pulleys, and belts, which can automatically peel off residual adhesive from the grippers, ensuring the grippers are clean, reducing maintenance costs, and improving the continuous working capacity of the equipment.

[0031] 3. A visualized workstation for waste disposal and processing of PVC products based on a robotic arm, wherein an adsorption force acquisition module and a vibration acquisition module monitor the adsorption force and vibration amplitude of the adsorption platform in real time. The central processing unit calculates the adsorption force deviation coefficient, vibration influence factor and evaluation coefficient, and dynamically adjusts the vacuum pump power based on the comparison result of the evaluation coefficient and the preset threshold, so that the adsorption platform can intelligently adjust the adsorption force according to the actual processing situation, effectively avoiding the displacement of PVC products due to vibration or insufficient adsorption force during processing, and ensuring processing stability. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of a visual workstation for waste removal and processing of PVC products based on a robotic arm, as proposed in this invention.

[0033] Figure 2 This is a schematic diagram of the adsorption platform installation structure of a visual workstation for waste removal and processing of PVC products based on a robotic arm, as proposed in this invention.

[0034] Figure 3 This is a schematic diagram of the gripper structure of a visual workstation for waste removal and processing of PVC products based on a robotic arm, as proposed in this invention.

[0035] Figure 4 This is a schematic diagram of the internal structure of the stripping box of a visual workstation for waste removal and processing of PVC products based on a robotic arm, as proposed in this invention.

[0036] Figure 5 This is a schematic diagram of the bottom structure of the workbench of a visual workstation for waste removal and processing of PVC products based on a robotic arm, as proposed in this invention.

[0037] Figure 6 This is a schematic diagram of the bottom structure of the perforated plate of a visual workstation for waste removal and processing of PVC products based on a robotic arm, as proposed in this invention.

[0038] Figure 7 This is a system block diagram of a visual workstation for waste disposal and processing of PVC products based on a robotic arm, as proposed in this invention.

[0039] In the diagram: 1. Workbench; 2. Electric roller; 3. Fixture; 4. Image recognition module; 5. Control panel; 6. Robotic arm; 7. Slide rail; 8. Bidirectional lead screw; 9. Motor 1; 10. Slider; 11. Lower clamping plate; 12. Upper clamping plate; 13. Electric push rod; 14. Notch; 15. Waste bin; 16. Stripping box; 17. Stripping roller; 18. Gear; 19. Pulley; 20. Belt; 21. Groove; 22. Perforated plate; 23. Cover plate; 24. Vacuum pump; 25. Adsorption force acquisition module; 26. Vibration acquisition module; 27. Motor 2. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0041] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] Reference Figures 1-7A visual workstation for waste disposal and processing of PVC products based on a robotic arm includes a workbench 1. Two sets of fixed frames 3 and a robotic arm 6 are fixedly connected to the top of the workbench 1. An image recognition module 4 is installed on the fixed frame 3. A gripper is installed at the free end of the robotic arm 6. A set of adsorption platforms corresponding to the positions of the robotic arm 6 are installed in the middle of the workbench 1. Electric rollers 2 are installed on both sides of the workbench 1. A control panel 5 is fixedly connected to the corner of the top of the workbench 1. A pair of notches 14 are opened at the front end of the workbench 1, and a waste bin 15 is placed inside the notches 14.

[0043] In use, the PVC product is automatically pulled into the transparent production carriage by two electric rollers 2, and then positioned by the adsorption platform. The image recognition module 4 identifies the position of the letter core, and then the robotic arm 6 presses and picks out the letter core on the adsorption platform via the slide rail 7 to remove waste. The removed letter core is placed in the waste bin 15 for collection. After the waste removal is completed, the PVC product is automatically rolled out of the production carriage by the rotary puller.

[0044] The gripper includes a slide rail 7 fixedly connected to the free end of the robotic arm 6. A set of sliders 10 are slidably connected inside the slide rail 7. A lower clamping plate 11 and an electric push rod 13 are fixedly connected to the sliders 10. An upper clamping plate 12 that cooperates with the lower clamping plate 11 is fixedly connected to the output shaft of the electric push rod 13. A bidirectional lead screw 8 is rotatably connected inside the slide rail 7. The bidirectional lead screw 8 is threadedly connected to the two sliders 10 respectively. A motor 9 is fixedly connected to the end of the slide rail 7. The output shaft of the motor 9 is fixedly connected to the end of the bidirectional lead screw 8.

[0045] In use, the edge of the character core can be lifted first by the cooperation of the robotic arm 6 and the lower clamping plate 11. Then, the upper clamping plate 12 is driven to approach the lower clamping plate 11 by the output shaft of the electric push rod 13 to clamp the character core. Finally, the character core can be removed by the robotic arm 6 and the gripper. The distance between the two lower clamping plates 11 can be adjusted by the output shaft of the motor 9 driving the bidirectional lead screw 8 to rotate, so that the gripper can clamp the character core from multiple points.

[0046] Furthermore, peeling boxes 16 are fixedly connected to both sides of the rear end of the workbench 1. Three peeling rollers 17 arranged side by side are rotatably connected to the outlet of the peeling box 16. A gear 18 is fixedly sleeved on each peeling roller 17. Two adjacent gears 18 are meshed together. A motor 27 is fixedly connected inside the peeling box 16. A pulley 19 is installed on the output shaft of the motor 27 and one of the peeling rollers 17. The two pulleys 19 are connected by a belt 20.

[0047] In use, the distance between the upper clamping plate 12 and the lower clamping plate 11 is first adjusted by the electric push rod 13 so that the distance between the upper clamping plate 12 and the lower clamping plate 11 is just equal to the width of the middle peeling roller 17. Then, the gripper is moved to the outlet of the peeling box 16 by the robotic arm 6 so that the upper clamping plate 12 and the lower clamping plate 11 are respectively located between two adjacent peeling rollers 17. Then, the second motor 27 is started. The output shaft of the second motor 27 will drive the middle peeling roller 17 to rotate through the transmission of the pulley 19 and the belt 20. Then, the multiple peeling rollers 17 rotate synchronously through the transmission of the gear 18. In this way, the peeling roller 17 will squeeze the upper clamping plate 12 and the lower clamping plate 11 and then peel off the residual glue on the upper clamping plate 12 and the lower clamping plate 11.

[0048] The adsorption platform includes a perforated plate 22 and a cover plate 23 installed in the slot 21. A vacuum pump 24 connected to the cover plate 23 is fixedly connected to the bottom of the cover plate 23.

[0049] When in use, start the vacuum pump 24, which will create a negative pressure at the perforated plate 22, thereby generating an adsorption force on the PVC product and positioning it.

[0050] In another embodiment, a robotic arm-based visual workstation for PVC product waste disposal and processing further includes:

[0051] The adsorption force acquisition module 25 is installed on the upper surface of the orifice plate 22 to monitor the adsorption force generated by the adsorption platform in real time, and generates the adsorption force deviation coefficient through the central processing unit in the control panel 5.

[0052] The vibration acquisition module 26 is installed on the orifice plate 22 to monitor the vibration amplitude of the adsorption platform in real time and generate vibration influence factors through the central processing unit.

[0053] It should be noted that the adsorption force acquisition module 25 can be a miniature piezoelectric force sensor or other device that can monitor the adsorption force generated by the adsorption platform in real time, and the vibration acquisition module 26 can be an accelerometer or other device that can monitor the vibration amplitude of the adsorption platform in real time. Therefore, the adsorption force acquisition module 25 and the vibration acquisition module 26 are not specifically limited here, and can be selected according to actual needs.

[0054] The output and input terminals of the adsorption force acquisition module 25 and the vibration acquisition module 26 are electrically connected to the input and output terminals of the central processing unit, respectively. The output terminal of the central processing unit is electrically connected to the input terminal of the vacuum pump 24.

[0055] During use, the central processing unit comprehensively analyzes the generated adsorption force deviation coefficient and vibration influence factor to generate an evaluation coefficient, which determines whether the adsorption platform needs to strengthen the adsorption of PVC products. The evaluation coefficient is compared with the pre-set evaluation coefficient reference threshold, and the working status of the adsorption platform is controlled according to the comparison result.

[0056] In another embodiment, through the cooperation of the adsorption force acquisition module 25, the vibration acquisition module 26, and the central processing unit, the central processing unit comprehensively analyzes the generated adsorption force deviation coefficient and vibration influence factor to generate an evaluation coefficient, determines whether the adsorption platform needs to strengthen the adsorption of PVC products, compares the evaluation coefficient with a pre-set evaluation coefficient reference threshold, and controls the working state of the adsorption platform based on the comparison result. The specific execution steps are as follows:

[0057] Real-time detection: Vibration acquisition module 26 acquires the vibration amplitude of the adsorption platform; Adsorption force acquisition module 25 acquires the adsorption force generated by the adsorption platform;

[0058] Coefficient Calculation: The central processing unit calculates the adsorption force deviation coefficient.

[0059] The adsorption force deviation coefficient quantifies the degree of deviation between the real-time adsorption force and the preset target adsorption force. A larger value indicates a greater deviation.

[0060] The logic for generating the adsorption force deviation coefficient is as follows:

[0061] S1. The actual adsorption force of the adsorption platform when the robotic arm 6 uses the grippers to remove the character core is obtained through the adsorption force acquisition module 25 and denoted as F. 吸 Calculate F 吸 and F 设 The absolute deviation is then normalized, and finally converted to an exponential function.

[0062] S2. Calculate the adsorption force deviation coefficient. The expression for the calculation is:

[0063]

[0064] In the formula, F 设 The target adsorption force is preset.

[0065] Calculate the vibration influence factor:

[0066] Among them, the vibration influence factor reflects the dispersion of the vibration of the adsorption platform; the larger the value, the more unstable the vibration.

[0067] The generation logic of the vibration influence factor is as follows:

[0068] S1. The vibration acquisition module 26 acquires the actual vibration amplitude of the adsorption platform at different times within time T when the robotic arm 6 uses the gripper to remove the character core. The actual vibration amplitude acquired at time i within time T is calibrated as A. 振,i i = 1, 2, 3, 4, ..., N, where N is a positive integer;

[0069] S2. Calculate the vibration influence factor. The expression for the calculation is:

[0070]

[0071] In the formula, This represents the average vibration amplitude.

[0072] Calculate the evaluation coefficient:

[0073] The analysis is performed using a formulaic approach via a central processing unit, based on the following formula:

[0074]

[0075] C 评 The evaluation coefficients are α and β, which are preset weighting coefficients, and α + β = 1.

[0076] Dynamic adjustment: If C 评 <C 阈 : Maintain the current parameters; if C 评 ≥C 阈 Increase the power of the vacuum pump by 24.

[0077] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A visual workstation for waste disposal and processing of PVC products based on a robotic arm, comprising a workbench (1), characterized in that, The top of the workbench (1) is fixedly connected to two sets of fixed frames (3) and a robotic arm (6). An image recognition module (4) is installed on the fixed frame (3). A gripper is installed on the free end of the robotic arm (6). A set of adsorption platforms corresponding to the position of the robotic arm (6) is installed in the middle of the workbench (1). Electric rollers (2) are installed on both sides of the workbench (1). A control panel (5) is fixedly connected at the corner of the top of the workbench (1). A pair of notches (14) are opened at the front end of the workbench (1). A waste bin (15) is placed inside the notches (14).

2. The PVC product waste disposal visualization workstation based on a robotic arm according to claim 1, characterized in that, The gripper includes a slide rail (7) fixedly connected to the free end of the robotic arm (6). A set of sliders (10) are slidably connected inside the slide rail (7). A lower clamping plate (11) and an electric push rod (13) are fixedly connected to the sliders (10). An upper clamping plate (12) that cooperates with the lower clamping plate (11) is fixedly connected to the output shaft of the electric push rod (13). A bidirectional lead screw (8) is rotatably connected inside the slide rail (7). The bidirectional lead screw (8) is threadedly connected to the two sliders (10) respectively. A motor (9) is fixedly connected to the end of the slide rail (7). The output shaft of the motor (9) is fixedly connected to the end of the bidirectional lead screw (8).

3. The PVC product waste disposal visualization workstation based on a robotic arm according to claim 1, characterized in that, The workbench (1) has two stripping boxes (16) fixedly connected to its rear end. Three stripping rollers (17) are rotatably connected to the outlet of the stripping box (16). Each stripping roller (17) is fixedly fitted with a gear (18). Two adjacent gears (18) are meshed together. A second motor (27) is fixedly connected inside the stripping box (16). A pulley (19) is installed on the output shaft of the second motor (27) and one of the stripping rollers (17). The two pulleys (19) are connected by a belt (20).

4. The PVC product waste disposal visualization workstation based on a robotic arm according to claim 1, characterized in that, The adsorption platform includes a perforated plate (22) and a cover plate (23) installed in the slot (21). A vacuum pump (24) connected to the bottom of the cover plate (23) is fixedly connected to the cover plate (23).

5. A visual workstation for PVC product waste disposal based on a robotic arm as described in claim 4, characterized in that, Also includes: The adsorption force acquisition module (25) is installed on the upper surface of the orifice plate (22) to monitor the adsorption force generated by the adsorption platform in real time and generate the adsorption force deviation coefficient through the central processor in the control panel (5). The vibration acquisition module (26) is installed on the orifice plate (22) to monitor the vibration amplitude of the adsorption platform in real time and generate vibration influence factors through the central processing unit. The central processing unit performs a comprehensive analysis of the generated adsorption force deviation coefficient and vibration influence factor to generate an evaluation coefficient. The evaluation coefficient is then compared with a pre-set evaluation coefficient reference threshold, and the working status of the adsorption platform is controlled based on the comparison results.

6. A visual workstation for PVC product waste disposal based on a robotic arm as described in claim 5, characterized in that, The output and input ends of the adsorption force acquisition module (25) and the output and input ends of the vibration acquisition module (26) are electrically connected to the input and output ends of the central processing unit, respectively. The output end of the central processing unit is electrically connected to the input end of the vacuum pump (24).

7. A visual workstation for PVC product waste disposal based on a robotic arm as described in claim 5, characterized in that, The execution steps of the central processing unit to control the working state of the adsorption platform based on the comparison results are as follows: Real-time detection: The vibration acquisition module (26) acquires the vibration amplitude of the adsorption platform; the adsorption force acquisition module (25) acquires the adsorption force generated by the adsorption platform; Coefficient Calculation: The central processing unit calculates the adsorption force deviation coefficient, vibration influence factor, and evaluation coefficient; Dynamic adjustment: If C 评 <C 阈 : Maintain the current parameters; if C 评 ≥C 阈 Increase the power of the vacuum pump (24).

8. A visual workstation for PVC product waste disposal based on a robotic arm, as described in claim 5, is characterized in that... The logic for generating the adsorption force deviation coefficient is as follows: S1. The actual adsorption force of the adsorption platform when the robotic arm (6) removes the character core using the gripper is obtained by the adsorption force acquisition module (25) and recorded as F. 吸 Calculate F 吸 and F 设 The absolute deviation is then normalized, and finally converted to an exponential function. S2. Calculate the adsorption force deviation coefficient. The expression for the calculation is: In the formula, F 设 The target adsorption force is preset.

9. A visual workstation for PVC product waste disposal based on a robotic arm as described in claim 8, characterized in that, The generation logic of the vibration influence factor is as follows: S1. The actual vibration amplitude of the adsorption platform at different times within time T when the robotic arm (6) removes the character core using the gripper is obtained through the vibration acquisition module (26). The actual vibration amplitude obtained at the i-th time within time T is calibrated as A. 振,i i = 1, 2, 3, 4, ..., N, where N is a positive integer; S2. Calculate the vibration influence factor. The expression for the calculation is: In the formula, This represents the average vibration amplitude.

10. A visual workstation for PVC product waste disposal based on a robotic arm, as described in claim 9, is characterized in that... The central processing unit performs formulaic analysis based on the following formula: C 评 The evaluation coefficients are α and β, which are preset weighting coefficients, and α + β = 1.

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