Intelligent continuous production and stack transfer robot for plates

Abstract

The invention relates to the technical field of plate stacking and carrying, in particular to an intelligent continuous plate production and stack transfer robot which comprises a transfer support, and the space below the transfer support is divided into a plate grabbing station, a middle transfer area and a stacking area in the length direction; a transfer hanging bracket is arranged under the transfer support, and a rope driving mechanism matched with the transfer hanging bracket is arranged on the transfer support and used for achieving lifting of the transfer hanging bracket. A composite grasping mechanism is arranged below the transfer hanging bracket, comprises a clamping unit and a vacuum adsorption unit, and is equipped with a buffer height control assembly; a positioning locking mechanism matched with the transfer hanging bracket is further arranged on the transfer support, comprises a transverse driving assembly, a locking base rod and an anti-falling frame and is used for achieving horizontal accurate movement and locking and anti-swing. Through combination of rope-driven lifting and positioning locking, the stability problem in the heavy-load plate transferring process is solved, the adaptability is improved by combining grabbing, efficient, continuous and automatic transferring and stacking of a production line are achieved, the structure is simple, cost is low, and reliability is high.

Description

Technical Field

[0001] This invention relates to the field of sheet metal palletizing and handling technology, and in particular to an intelligent continuous production and pallet transfer robot for sheet metal. Background Technology

[0002] With the continuous improvement of automation in manufacturing, especially the rapid development of the sheet metal processing industry, material handling and palletizing operations on sheet metal production lines have become key links affecting overall production efficiency. Traditional sheet metal production relies heavily on manual labor or semi-automatic equipment to complete the process of picking, transferring, and stacking sheets from the end of the production line to the palletizing area. However, with rising labor costs and stricter safety requirements, this method has gradually revealed problems such as low efficiency, high labor intensity, and numerous safety hazards. Especially in the handling of heavy-duty, large-size materials such as metal sheets, glass sheets, or composite sheets, manual operation not only makes it difficult to ensure continuous production but also easily leads to surface damage or unstable stacking of sheets, affecting product quality and subsequent logistics transportation.

[0003] In recent years, industrial robot technology has been increasingly widely applied in material handling, with palletizing robots and transfer robots becoming important means of upgrading production lines to automation. Domestic and international companies and research institutions have developed various automated equipment, such as articulated robots, gantry robots, and collaborative robots, to replace manual labor in repetitive handling and stacking tasks. These devices have achieved significant results in industries such as food and beverage, logistics and warehousing, and chemical and pharmaceutical manufacturing, improving production flexibility and operational precision. However, in specialized sheet metal production lines (such as…)… Figure 1 As mentioned above, existing transfer and palletizing equipment still faces some common challenges: complex equipment structure, large footprint, high cost, and strict requirements for the stability of gripping heavy-duty sheets and the anti-sway control during transfer, making it difficult to simultaneously meet the needs of large-stroke lifting, low-cost maintenance, and high-precision positioning. Furthermore, with the advancement of intelligent manufacturing, enterprises are increasingly demanding equipment that can adapt to various sheet types and achieve continuous and efficient production.

[0004] How to solve the above-mentioned technical problems is the challenge facing this invention. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a rationally designed, safe, and reliable intelligent continuous production and palletizing robot for sheet metal. It balances the lightweight efficiency of long-distance transport with the high precision and stability of end-point operations, significantly improving the palletizing efficiency and operational safety of automated sheet metal production lines.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a board intelligent continuous production and stacking transfer robot, including a transfer bracket that cooperates with the board production line, and the space below the transfer bracket is divided along its length into a board gripping station that cooperates with the board production line, an intermediate transfer area and a stacking area for stacking boards. A transfer hanger is provided directly below the transfer bracket, and a rope drive mechanism that cooperates with the transfer hanger is provided on the transfer bracket. A gripping mechanism for gripping the plate is provided on the transfer hanger, and a positioning and locking mechanism that cooperates with the transfer hanger is provided on the transfer bracket.

[0007] Furthermore, the transfer bracket includes a transfer frame that cooperates with the positioning and locking mechanism, and the transfer frame is provided with a plurality of supporting legs; and the rope drive mechanism is provided on the transfer frame; the transfer hanger includes a torque frame, the torque frame is provided with a rope drive base frame, the rope drive base frame is provided with a connection point that cooperates with the rope drive mechanism, a plurality of guide arms are obliquely provided at the top of the torque frame, the guide arms are provided with guide wheels, and a plurality of steering arms are provided at the top of the torque frame, the steering arms are provided with steering wheels.

[0008] Preferably, the rope-driven base frame is slidably engaged with the torque frame, and the transfer hanger is provided with a height control component that engages with the rope-driven base frame.

[0009] Furthermore, the rope drive mechanism includes two sets of rope drive hinge rope assemblies symmetrically arranged on the transfer frame. Each set of rope drive hinge rope assemblies includes several rope drive hinge rope assemblies horizontally arranged on the transfer frame. The rope drive hinge rope assembly includes a rope drive bracket arranged on the transfer frame. A rope drive winch is arranged on the rope drive bracket. A rope drive drive component that cooperates with the rope drive winch is arranged on the rope drive bracket. A rope drive hinge rope is arranged on the rope drive winch. The rope drive hinge rope is connected to the transfer hanger.

[0010] Furthermore, the gripping mechanism includes a gripping base frame located directly below the transfer hanger, the transfer hanger is provided with a connecting component that cooperates with the gripping base frame, the gripping base frame is symmetrically provided with clamping base plates, and the gripping base frame is provided with a gripping drive component for driving the clamping base plates to perform clamping actions. An adsorption base is provided directly below the gripping base. The gripping base is provided with a height control component that cooperates with the adsorption base. The adsorption base is provided with a plurality of adsorption units for adsorbing the plate.

[0011] Preferably, the connecting assembly includes a rotating frame disposed in the transfer hanger, the transfer hanger being provided with a rotating unit for driving the rotating frame to rotate, and the bottom end of the rotating frame being provided with a connecting base plate detachably connected to the gripping base frame; wherein the rotating unit may be a simple drive structure composed of a rotating shaft and a rotating motor, or it may be a gear drive structure composed of a rotating circular tooth, a rotating motor, and a rotating gear.

[0012] Furthermore, the height control component includes several height control rods on the gripping base, a shock-absorbing base plate is provided at the bottom of the height control rod, several first springs are provided on the shock-absorbing base plate, several buffer rods that cooperate with the first springs are provided on the shock-absorbing base plate, a second spring is provided on the shock-absorbing base, a guide cylinder is provided on the gripping base, and a guide rod that cooperates with the guide cylinder is provided on the adsorption base. The adsorption unit includes a suction cup disposed on the adsorption base, a negative pressure vacuum pump that cooperates with the suction cup disposed on the adsorption base, a control module disposed on the adsorption base for controlling the start and stop of the negative pressure vacuum pump, and a power supply module disposed on the adsorption base for cooperating with the control module.

[0013] Furthermore, the gripping base frame includes a gripping crossbeam, and guide crossbeams that slide in cooperation with the clamping base plate are provided at both ends of the gripping crossbeam. The gripping drive assembly includes several drive frames, the middle section of which is rotatably engaged with the gripping crossbeam, and both ends of which are rotatably connected to the clamping base plate. The gripping crossbeam is provided with a drive slide plate that is slidably engaged with the gripping crossbeam. The drive slide plate is provided with several drive linkages that are rotatably connected with the drive frames, and the gripping crossbeam is provided with a linear drive component that engages with the drive slide plate.

[0014] Furthermore, the positioning and locking mechanism includes a positioning crossbeam that slides with the transfer bracket, and the transfer bracket is provided with a first drive component that cooperates with the positioning crossbeam. The positioning crossbeam is provided with a positioning slide that slides with the positioning crossbeam, and the positioning crossbeam is provided with a second drive component that cooperates with the positioning slide. The moving direction of the positioning crossbeam is perpendicular to the moving unit of the positioning slide. A locking base rod is provided at the top of the transfer frame, a stabilizing component that cooperates with the locking base rod is provided on the positioning slide, and a locking component that cooperates with the locking base rod is provided on the positioning slide. A fall arrestor that cooperates with the locking component is provided at the top of the locking base rod.

[0015] Furthermore, the positioning crossbeam is provided with a positioning groove that cooperates with the positioning slide; the positioning slide includes a positioning slide block that slidably cooperates with the positioning groove, the positioning slide block is provided with a stabilizing slide, and the stabilizing component is provided on the stabilizing slide; The locking assembly includes a locking telescopic rod disposed on the smooth slide and / or the positioning slide, the moving end of the locking telescopic rod being provided with a locking element, and the locking base rod being provided with a locking element that cooperates with the locking element.

[0016] Furthermore, the stabilizing component includes two sets of stabilizing rollers symmetrically arranged on the positioning carriage. Each set of stabilizing rollers includes several stabilizing rollers vertically arranged on the positioning carriage, and the locking base rod is located between the two sets of stabilizing rollers.

[0017] This invention utilizes a rope-driven mechanism as a power source, significantly reducing the moving weight of the transfer system and enabling the transfer hanger to achieve high-acceleration, high-speed reciprocating motion on long-span sheet metal production lines. More importantly, by incorporating a positioning and locking mechanism on the transfer frame, during the stationary operation phase of gripping or stacking, the physical engagement of the locking element with the locking base rod on the transfer hanger instantly transforms the flexible "rope-hanger" system into a rigid "frame-hanger" system. This design completely eliminates the inherent oscillating inertia of rope-driven systems, ensuring millimeter-level alignment accuracy even at high speeds.

[0018] The gripping mechanism of this invention integrates the mechanical side clamping of the substrate and the negative pressure adsorption of the top surface of the adsorption unit. During the transfer process, the gripping drive assembly achieves synchronous centering and clamping of the substrate on both sides through the drive linkage mechanism, forming a dual constraint in both horizontal and vertical dimensions in conjunction with the negative pressure suction cup. This not only effectively prevents slippage of heavy plates due to inertia during high-speed movement, rotation, or sudden stops, but also enables flexible angle adjustment of the plate in three-dimensional space through the cooperation of the rotating frame and the rotating unit.

[0019] This invention employs a multi-stage progressive shock absorption structure, incorporating a shock-absorbing base plate, a first spring, a buffer rod, and a second spring within the height control component. This structure creates a flexible contact interface at the moment of gripping. When the suction cup contacts the material, this structure automatically absorbs impact energy and compensates for surface flatness errors. This physically adaptive design not only avoids damage to high-gloss or fragile material surfaces from hard impacts but also reduces the extreme dependence on the precision of the control algorithm, thereby improving the system's robustness.

[0020] This invention divides the space into a board gripping station, an intermediate transfer area, and a palletizing area. Through the overall layout of the transfer brackets, it achieves seamless connection between production line output and finished product palletizing. Through the linkage of the rope drive mechanism and the positioning and locking mechanism, it realizes a fully automated continuous process of board gripping from the end of the production line, short-term buffer transfer to the palletizing area, which greatly improves the overall efficiency and automation level of the production line, while reducing the equipment footprint and manual intervention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the sheet metal production line.

[0022] Figure 2 This is a schematic diagram of the overall three-dimensional structure of the present invention.

[0023] Figure 3 This is a schematic diagram showing the cooperation of the positioning and locking mechanism, the transfer hanger, and the gripping mechanism of the present invention.

[0024] Figure 4 This is an enlarged schematic diagram of point A in the present invention.

[0025] Figure 5 This is a schematic diagram of the cooperation between the transfer hanger and the connecting components of the present invention.

[0026] Figure 6 This is a schematic diagram of the overall structure of the gripping mechanism of the present invention.

[0027] Figure 7 This is a partial structural schematic diagram of the gripping mechanism of the present invention.

[0028] The attached diagram is labeled as follows: 100, transfer bracket; 110, transfer frame; 120, support leg; 130, sheet metal gripping station; 140, intermediate transfer area; 150, palletizing area; 200, rope drive mechanism; 210, rope drive hinge assembly; 220, rope drive bracket; 230, rope drive winch; 240, rope drive drive component; 300, transfer hanger; 310, torque frame; 320, rope drive base frame; 330, connection point; 3 40. Guide arm; 350. Guide wheel; 360. Steering arm; 370. Steering wheel; 380. Height control component; 400. Gripping mechanism; 410. Gripping base frame; 411. Gripping crossbeam; 412. Guide crossbeam; 413. Adjustment groove; 420. Connecting assembly; 421. Rotating frame; 422. Rotating unit; 423. Connecting base plate; 430. Clamping base plate; 440. Gripping drive assembly; 441. Drive mechanism Frame; 442, Drive linkage; 443, Drive slide plate; 444, Linear drive component; 500, Adsorption mechanism; 510, Adsorption base frame; 520, Height control assembly; 521, Height control rod; 522, Shock-absorbing base plate; 523, First spring; 524, Buffer rod; 525, Second spring; 526, Guide cylinder; 527, Guide rod; 530, Adsorption unit; 531, Suction cup; 532, Negative pressure vacuum pump; 533, Control... Module; 534, Power supply module; 600, Positioning and locking mechanism; 610, Positioning crossbeam; 611, Positioning slide; 620, First drive assembly; 630, Positioning slide; 631, Positioning slide block; 632, Stable slide; 640, Second drive assembly; 650, Locking base rod; 651, Anti-fall frame; 660, Locking assembly; 661, Locking telescopic rod; 662, Locking element; 663, Locking element; 670, Stable assembly. Detailed Implementation

[0029] See Figures 2 to 6 As shown, a smart continuous production and stacking robot for sheet metal includes a transfer bracket 100 that works in conjunction with the sheet metal production line. The space below the transfer bracket 100 is divided along its length into a sheet metal gripping station 130 that works in conjunction with the sheet metal production line, an intermediate transfer area 140, and a stacking area 150 for stacking sheet metal. Through this partitioned layout, a continuous process is achieved where sheet metal is gripped from the production line, temporarily buffered, and transferred to the stacking area 150, thereby improving production efficiency.

[0030] A transfer hanger 300 is positioned directly below the transfer support 100, and a rope drive mechanism 200 cooperating with the transfer hanger 300 is provided on the transfer support 100. The transfer hanger 300 is suspended below the transfer support 100 via the rope drive mechanism 200, enabling vertical lifting and lowering. The transfer hanger 300 is equipped with a gripping mechanism 400 for gripping the sheet metal, and the transfer support 100 is equipped with a positioning and locking mechanism 600 that cooperates with the transfer hanger 300. The positioning and locking mechanism 600 is used to precisely lock the transfer hanger 300 after it has moved horizontally into position, preventing swaying caused by the flexibility of the rope drive and improving the positioning accuracy and safety of heavy-duty sheet metal transfer.

[0031] Furthermore, the transfer bracket 100 includes a transfer frame 110 that cooperates with the positioning and locking mechanism 600. The transfer frame 110 is provided with several supporting legs 120. The supporting legs 120 are used to firmly fix the transfer frame 110 to the ground, ensuring the overall structural rigidity. The rope drive mechanism 200 is disposed on the transfer frame 110. The rope drive mechanism 200 is arranged at the top of the frame, facilitating the symmetrical distribution of multiple ropes and achieving load balance.

[0032] Furthermore, the transfer frame 300 includes a torque frame 310, which is a rectangular frame structure providing rigid support and a foundation for rope connection. A rope drive base frame 320 is mounted on the torque frame 310, and a connection point 330 cooperating with the rope drive mechanism 200 is provided on the rope drive base frame 320. Several guide arms 340 are obliquely arranged at the top of the torque frame 310, and guide wheels 350 are mounted on the guide arms 340. Several steering arms 360 are also arranged at the top of the torque frame 310, and steering wheels 370 are mounted on the steering arms 360. By arranging the guide wheels 350 and steering wheels 370, the force vector of the rope drive cable is changed, allowing the transfer frame 300 to maintain its posture balance while obtaining horizontal driving force.

[0033] Preferably, the rope-driven base frame 320 is slidably engaged with the torque frame 310, and the transfer hanger 300 is provided with a height control component 380 that engages with the rope-driven base frame 320 to adjust the vertical distance between the gripping mechanism 400 and the rope-driven base frame 320, thereby achieving adaptive compensation of the plates at different stacking heights. At the same time, through the sliding engagement and the height control component 380, the relative position of the rope-driven base frame 320 can be finely adjusted to optimize the rope tension distribution and improve the lifting stability under heavy loads.

[0034] Specifically, the height control component 380 can be configured as a linear drive component 444 such as an electric rod, hydraulic rod, or moving lead screw; alternatively, the height control component 380 can also be configured as a height transmission structure composed of a chain, sprocket, and height motor. These structures can all achieve precise height adjustment and ensure multi-rope synchronization.

[0035] Furthermore, the rope-driven mechanism 200 includes two sets of rope-driven hinge rope assemblies 210 symmetrically arranged on the transfer frame 110. Each set of rope-driven hinge rope assemblies 210 includes several rope-driven hinge rope assemblies 210 horizontally arranged on the transfer frame 110. Each rope-driven hinge rope assembly 210 includes a rope-driven bracket 220 mounted on the transfer frame 110. A rope-driven winch 230 is mounted on the rope-driven bracket 220, and a rope-driven drive component 240 that cooperates with the rope-driven winch 230 is mounted on the rope-driven winch 230. The rope-driven hinge rope is connected to the transfer hanger 300. The rope-driven drive component 240, such as a motor, drives the winch to wind and unwind the rope, achieving synchronous lifting and lowering of the transfer hanger 300. The symmetrical structural distribution ensures the balance of traction force, preventing the transfer hanger 300 from generating yaw torque during movement.

[0036] Specifically, one end of the rope drive hinge is connected to the rope drive bracket 220 via a rotating wheel, a guide wheel 350, and the other end is coiled around the rope drive winch 230, forming a pulley block-like multiplier structure, which reduces the torque load on the drive motor while improving the positioning resolution.

[0037] Furthermore, the gripping mechanism 400 includes a gripping base frame 410 located directly below the transfer hanger 300. The transfer hanger 300 is provided with a connecting component 420 that cooperates with the gripping base frame 410. The gripping base frame is symmetrically provided with clamping base plates 430, and the gripping base frame 410 is provided with a gripping drive component 440 for driving the clamping base plates 430 to perform clamping actions. An adsorption base 510 is disposed directly below the gripping base 410. A height control component 520, which cooperates with the adsorption base 510, is disposed on the gripping base 410, and several adsorption units 530 for adsorbing the sheet material are disposed on the adsorption base 510. The gripping mechanism 400, through the dual constraint of side clamping and top surface adsorption, prevents the sheet material from slipping due to inertia during high-speed translation, while also ensuring compatibility with both thin and thick sheets.

[0038] Preferably, the connecting component 420 is configured as a connecting base frame for detachable connection with the transfer hanger 300. Alternatively, the connecting component 420 includes a rotating frame 421 disposed in the transfer hanger 300, the transfer hanger 300 being provided with a rotating unit 422 for driving the rotating frame 421 to rotate, and the bottom end of the rotating frame 421 being provided with a connecting base plate 423 detachably connected to the gripping base frame 410. The rotating unit 422 can be a simple drive structure consisting of a rotating shaft and a rotating motor, or it can be a gear drive structure consisting of rotating round teeth, a rotating motor, and rotating gears. The introduction of the rotating unit 422 allows the plate material to be angled in the horizontal plane to adapt to the arrangement requirements under different palletizing processes.

[0039] Furthermore, the height control component 520 includes several height control rods 521 on the gripping base 410. A shock-absorbing base plate 522 is provided at the bottom end of each height control rod 521. Several first springs 523 are provided on the shock-absorbing base plate 522. Several buffer rods 524 that cooperate with the first springs 523 are provided on the shock-absorbing base plate 522. A second spring 525 is provided on the shock-absorbing base plate 522. A guide cylinder 526 is provided on the gripping base 410. A guide rod 527 that cooperates with the guide cylinder 526 is provided on the suction base 510. This multi-stage spring shock-absorbing structure forms a flexible contact interface, which provides cushioning when the suction cup 531 presses down to contact the plate, avoiding hard impact damage to the plate surface, and can automatically compensate for the flatness error of the plate surface.

[0040] The adsorption unit 530 includes a suction cup 531 disposed on the adsorption base 510. A negative pressure vacuum pump 532, which cooperates with the suction cup 531, is disposed on the adsorption base 510. A control module 533, which controls the start and stop of the negative pressure vacuum pump 532, is disposed on the adsorption base 510. A power supply module 534, which cooperates with the control module 533, is disposed on the adsorption base 510. The negative pressure vacuum pump 532 generates adsorption force, and the control module 533 enables intelligent start and stop, ensuring reliable adsorption.

[0041] Furthermore, the gripping base frame 410 includes a gripping crossbeam 411, and guide crossbeams 412 are provided at both ends of the gripping crossbeam 411 to slide in cooperation with the clamping substrate 430; the guide crossbeams 412 ensure that the clamping substrate 430 slides smoothly. The gripping drive assembly 440 includes several drive rotating frames 441. The middle section of each drive rotating frame 441 is rotatably engaged with the gripping crossbeam 411, and both ends of each drive rotating frame are rotatably connected to the clamping base plate 430. A drive sliding plate 443 is provided on the gripping crossbeam 411 and slidably engaged with it. Several drive connecting rods 442 are provided on the drive sliding frame 441 and rotatably connected to it. A linear drive member 444 is provided on the gripping crossbeam 411 and engages with the drive sliding plate 443. The linear drive member 444 drives the sliding plate 443 to move, converting the linear motion into rotational motion of the drive rotating frame 441 through a linkage mechanism. This, in turn, causes the clamping base plates 430 on both sides to converge towards the center, achieving a synchronous gripping effect similar to that of a pair of vises.

[0042] Preferably, the gripping crossbeam 411 is provided with an adjustment base groove 413 that cooperates with the drive rotating frame 441.

[0043] Furthermore, the positioning and locking mechanism includes a positioning crossbeam 610 that slides with the transfer bracket 100, and the transfer bracket 100 is provided with a first drive component 620 that cooperates with the positioning crossbeam 610. The positioning crossbeam 610 is provided with a positioning slide 630 that slides with the positioning crossbeam 610, and the positioning crossbeam 610 is provided with a second drive component 640 that cooperates with the positioning slide 630. The moving direction of the positioning crossbeam 610 is perpendicular to the moving unit of the positioning slide 630. This constitutes a two-dimensional coordinate positioning platform located above the transfer bracket 100, which can actively track and accurately dock with the transfer hanger 300 in a suspended state.

[0044] A locking base rod 650 is provided at the top of the transfer hanger 300. A stabilizing component 670 that cooperates with the locking base rod 650 is provided on the positioning slide 630, and a locking component 660 that cooperates with the locking base rod 650 is provided on the positioning slide 630. A fall arrestor 651 that cooperates with the locking component 660 is provided at the top of the locking base rod. The engagement of the locking component 660 and the locking base rod 650 temporarily transforms the original flexible suspension system into a rigid connection system, eliminating the swaying inertia of the transfer hanger 300 to a certain extent. Specifically, the stabilizing component 670 reduces docking sway, the locking component 660 fixes the position, and the fall arrestor 651 provides redundant safety.

[0045] The first drive assembly 620 can be configured as a linear drive component such as an electric rod, hydraulic rod, or movable lead screw; alternatively, it can be a transmission drive assembly composed of a chain, sprocket, slide rail, and chain motor. The second drive assembly 640 can adopt any of the structures of the first drive assembly 620 described above.

[0046] Furthermore, the positioning crossbeam 610 is provided with a positioning groove 611 that cooperates with the positioning slide 630; the positioning slide 630 includes a positioning slide seat 631 that slidably cooperates with the positioning groove 611, and a stabilizing slide 632 is provided on the positioning slide seat 631, and the stabilizing component 670 is provided on the stabilizing slide 632. The locking assembly 660 includes a locking telescopic rod 661 disposed on the smooth slide 632 and / or the positioning slide 631, the moving end of the locking telescopic rod 661 is provided with a locking element 662, and the locking base rod 650 is provided with a locking element 663 that cooperates with the locking element 662.

[0047] In this design, the locking telescopic rod 661 is configured as a linear drive component 444, such as an electric rod or a hydraulic rod; the locking component 662 is configured as a plug rod; and the locking element 663 is configured as a corresponding slot. Alternatively, the locking element 663 can be configured as a locking toothed plate or a corresponding locking rack. The pin-type or rack-type locking structure provides a large static locking force, ensuring structural stability under high-load stacking conditions.

[0048] Further optimization provides two structural designs for the stabilizing component 670, as follows: Firstly, the stabilizing assembly 670 includes two sets of stabilizing rollers symmetrically arranged on the positioning carriage 630. Each set of stabilizing rollers includes several stabilizing rollers vertically arranged on the positioning carriage 630, and the locking base rod 650 is located between the two sets of stabilizing rollers. The stabilizing rollers lock the base rod 650 through rolling friction, limiting its horizontal displacement degree of freedom without hindering the longitudinal movement of the locking base rod 650.

[0049] Secondly, the stabilizing component 670 includes a stabilizing groove formed on the positioning slide 630. Four sets of stabilizing telescopic arms are arranged in the stabilizing groove. Each stabilizing telescopic arm is equipped with a stabilizing wheel that cooperates with the locking base rod 650. Each set of stabilizing telescopic arms includes several stabilizing telescopic arms vertically arranged in the stabilizing groove. The telescopic arm structure can automatically adjust the clamping force according to the thickness or deviation of the locking base rod 650, providing better correction and fault tolerance capabilities.

[0050] Furthermore, the present invention also includes a control system for coordinating the control of the rope drive mechanism 200, the positioning and locking mechanism 600, and the gripping mechanism 400. The control system includes a central control module 533, such as a PLC or a motion controller, which is electrically connected to the rope drive component 240, the height control component 380, the rotation unit 422, the gripping drive assembly 440, the linear drive component 444, and the negative pressure vacuum pump 532 via a bus or wireless communication method.

[0051] The central control module 533 achieves coordinated control of various components through a closed-loop feedback loop. The specific structure and logic are as follows: Regarding the synchronous control of rope drive tension and displacement, a tension sensor is installed on the rope drive bracket 220 of each group of rope drive hinged rope assemblies 210 to monitor the tension state of the rope drive hinged rope in real time; simultaneously, an absolute encoder is installed at the drive end of the rope drive winch 230. The central control module 533 compensates the output torque of the rope drive drive component 240 in real time based on the feedback signal from the tension sensor, ensuring that the multiple rope drive hinged ropes maintain a preset tension range during the movement of the load-bearing transfer gantry 300, preventing tilting or yaw caused by rope slack.

[0052] Secondly, regarding the precise docking and linkage control of workstations, the transfer frame 110 is equipped with several position detectors, such as laser rangefinders or inductive switches, corresponding to each workstation along its length. When the central control module 533 receives a signal that the transfer hanger 300 has arrived at the target workstation, it instructs the rope drive mechanism 200 to enter a torque holding state and simultaneously activates the positioning and locking mechanism 600. The first drive component 620 and the second drive component 640 work together to drive the positioning slide 630 to move to the coordinate point of the locking base rod 650, achieving rigid locking through the locking component 660. After the feedback signal indicating that locking is complete is triggered, the central control module 533 instructs the gripping mechanism 400 to perform the adsorption or release action of the plate, thereby establishing a time-series linkage of "dynamic translation - static locking - precise operation".

[0053] Meanwhile, regarding the gripping safety feedback control, a vacuum pressure switch is installed in the negative pressure pipeline of the adsorption unit 530, and a pressure contact is installed on the clamping base plate 430. The central control module 533 only determines that the gripping is successful when it simultaneously receives signals that the vacuum level reaches the threshold and the pressure contact is closed, and allows the positioning locking mechanism 600 to unlock and the rope drive mechanism 200 to start the lifting action. In addition, the central control module 533 has a built-in anti-fall safety logic. When the tension sensor value of any rope drive hinge rope changes abruptly, the central control module 533 immediately instructs the locking telescopic rod 661 in the positioning locking mechanism 600 to extend at full speed, and uses the mechanical engagement of the locking member 662 and the locking base rod 650 to forcibly block the fall of the transfer hanger 300, forming active safety protection.

[0054] Finally, regarding multi-level height adaptive control, the central control module 533 controls the height control component 380 and the height control assembly 520 to perform two-level height adjustment. The height control component 380 is responsible for macroscopic height compensation based on the current stacking height of the boards in the palletizing area 150; while the height control rod 521 and spring damping structure on the adsorption base 510, through physical deformation feedback in conjunction with the control module 533, achieve microscopic force cushioning at the moment the suction cup 531 contacts the board, ensuring uniform force distribution during the gripping process for boards of different thicknesses.

[0055] The technical features of this invention not described can be implemented by or using existing technology, and will not be repeated here. Of course, the above description is not a limitation of this invention, and this invention is not limited to the examples above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention should also be within the protection scope of this invention.

Claims

1. A smart continuous production and stacking robot for sheet metal, characterized in that, Includes a transfer bracket (100) that works with the board production line. The space below the transfer bracket (100) is divided along its length into a board gripping station (130) that works with the board production line, an intermediate transfer area (140), and a stacking area (150) for stacking boards. A transfer hanger (300) is provided directly below the transfer bracket (100), and a rope drive mechanism (200) that cooperates with the transfer hanger (300) is provided on the transfer bracket (100). A gripping mechanism (400) for gripping the plate is provided on the transfer hanger (300), and a positioning and locking mechanism (600) that cooperates with the transfer hanger (300) is provided on the transfer bracket (100).

2. The intelligent continuous production and stacking robot for sheet metal as described in claim 1, characterized in that, The transfer bracket (100) includes a transfer frame (110) that cooperates with the positioning and locking mechanism (600), and the transfer frame (110) is provided with a plurality of support legs (120); and the rope drive mechanism (200) is provided on the transfer frame (110); The transfer frame (300) includes a torque frame (310), on which a rope drive base frame (320) is provided. The rope drive base frame (320) is provided with a connection point (330) that cooperates with the rope drive mechanism (200). Several guide arms (340) are obliquely arranged at the top of the torque frame (310), and guide wheels (350) are provided on the guide arms (340). Several steering arms (360) are arranged at the top of the torque frame (310), and steering wheels (370) are provided on the steering arms (360).

3. The intelligent continuous production and stacking robot for sheet metal as described in claim 2, characterized in that, The rope-driven base frame (320) is slidably engaged with the torque frame (310), and the transfer hanger (300) is provided with a height control component (380) that engages with the rope-driven base frame (320).

4. The intelligent continuous production and stacking robot for sheet metal as described in claim 2, characterized in that, The rope drive mechanism (200) includes two sets of rope drive hinge rope assemblies (210) symmetrically arranged on the transfer frame (110). Each set of rope drive hinge rope assemblies (210) includes several rope drive hinge rope assemblies (210) horizontally arranged on the transfer frame (110). The rope drive hinge rope assembly (210) includes a rope drive bracket (220) arranged on the transfer frame (110). A rope drive winch (230) is arranged on the rope drive bracket (220). A rope drive drive member (240) cooperating with the rope drive winch (230) is arranged on the rope drive bracket (220). A rope drive hinge rope is arranged on the rope drive winch (230). The rope drive hinge rope is connected to the transfer hanger (300).

5. The intelligent continuous production and stacking robot for sheet metal as described in claim 1, characterized in that, The gripping mechanism (400) includes a gripping base frame (410) located directly below the transfer hanger (300). The transfer hanger (300) is provided with a connecting component (420) that cooperates with the gripping base frame (410). The gripping base frame is symmetrically provided with clamping substrates (430), and the gripping base frame (410) is provided with a gripping drive component (440) for driving the clamping substrates (430) to perform a clamping action. An adsorption base (510) is provided directly below the gripping base (410). A height control component (520) that cooperates with the adsorption base (510) is provided on the gripping base (410), and a plurality of adsorption units (530) for adsorbing the plate are provided on the adsorption base (510).

6. The intelligent continuous production and stacking robot for sheet metal as described in claim 5, characterized in that, The connecting assembly (420) includes a rotating frame (421) disposed in the transfer hanger (300), the transfer hanger (300) is provided with a rotating unit (422) for driving the rotating frame (421) to rotate, and the bottom end of the rotating frame (421) is provided with a connecting base plate (423) detachably connected to the gripping base frame (410). The height control component (520) includes several height control rods (521) on a gripping base (410). A shock-absorbing base plate (522) is provided at the bottom end of the height control rod (521). Several first springs (523) are provided on the shock-absorbing base plate (522). Several buffer rods (524) that cooperate with the first springs (523) are provided on the shock-absorbing base plate (522). A second spring (525) is provided on the shock-absorbing base plate (522). A guide tube (526) is provided on the gripping base (410). A guide rod (527) that cooperates with the guide tube (526) is provided on the adsorption base (510). The adsorption unit (530) includes a suction cup (531) disposed on the adsorption base (510), a negative pressure vacuum pump (532) that cooperates with the suction cup (531) is disposed on the adsorption base (510), a control module (533) that is responsible for controlling the start and stop of the negative pressure vacuum pump (532) is disposed on the adsorption base (510), and a power supply module (534) that cooperates with the control module (533) is disposed on the adsorption base (510).

7. The intelligent continuous production and stacking robot for sheet metal as described in claim 5, characterized in that, The gripping base frame (410) includes a gripping crossbeam (411), and guide crossbeams (412) that slide in cooperation with the clamping base plate (430) are provided at both ends of the gripping crossbeam (411). The gripping drive assembly (440) includes several drive frames (441). The middle section of the drive frame (441) is rotatably engaged with the gripping crossbeam (411). The two ends of the drive frame are rotatably connected to the clamping base plate (430). The gripping crossbeam (411) is provided with a drive slide plate (443) that is slidably engaged with the gripping crossbeam (411). The drive slide plate (443) is provided with several drive connecting rods (442) that are rotatably connected with the drive frame (441). The gripping crossbeam (411) is provided with a linear drive member (444) that engages with the drive slide plate (443).

8. The intelligent continuous production and stacking robot for sheet metal as described in claim 1, characterized in that, The positioning and locking mechanism includes a positioning crossbeam (610) that slides with the transfer bracket (100), and the transfer bracket (100) is provided with a first drive assembly (620) that cooperates with the positioning crossbeam (610). The positioning crossbeam (610) is provided with a positioning slide (630) that slides with the positioning crossbeam (610). The positioning crossbeam (610) is provided with a second drive assembly (640) that cooperates with the positioning slide (630). The moving direction of the positioning crossbeam (610) is perpendicular to the moving unit of the positioning slide (630). The top of the transfer frame (300) is provided with a locking base rod (650), the positioning slide (630) is provided with a stabilizing component (670) that cooperates with the locking base rod (650), the positioning slide (630) is provided with a locking component (660) that cooperates with the locking base rod (650), and the top of the locking base rod is provided with a fall arrestor (651) that cooperates with the locking component (660).

9. The intelligent continuous production and stacking robot for sheet metal as described in claim 8, characterized in that, The positioning crossbeam (610) is provided with a positioning groove (611) that cooperates with the positioning slide (630); the positioning slide (630) includes a positioning slide seat (631) that slidably cooperates with the positioning groove (611), and a stabilizing slide (632) is provided on the positioning slide seat (631), and the stabilizing component (670) is provided on the stabilizing slide (632); The locking assembly (660) includes a locking telescopic rod (661) disposed on the smooth slide (632) and / or the positioning slide (631), the moving end of the locking telescopic rod (661) is provided with a locking element (662), and the locking base rod (650) is provided with a locking element (663) that cooperates with the locking element (662).

10. The intelligent continuous production and stacking robot for sheet metal as described in claim 8, characterized in that, The stabilizing component (670) includes a stabilizing groove formed on the positioning slide (630). Four sets of stabilizing telescopic arms are provided in the stabilizing groove. Each stabilizing telescopic arm is provided with a stabilizing wheel that cooperates with the locking base rod (650). Each set of stabilizing telescopic arms includes several stabilizing telescopic arms vertically arranged in the stabilizing groove.

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