Synthetic resin tile warehouse grabbing machine and method

Abstract

This invention relates to the field of warehousing and transportation technology, and in particular to a gripping machine and method for storing synthetic resin tiles. The gripping machine includes a frame, a power assembly, and a gripping mechanism. The power assembly is mounted on the frame, and the gripping mechanism includes a mounting base, a suction cup body, auxiliary arms, and elastic components. The mounting base is connected to the power assembly, the suction cup body is mounted on the mounting base, and there are multiple auxiliary arms. This invention incorporates auxiliary arms and elastic components. During the transfer of synthetic resin tiles, the auxiliary arms provide rigid support to the tiles near the suction cup body, thus transferring the swaying force caused by acceleration and deceleration during transport to the auxiliary arms. This reduces the tearing stress on the suction cup body due to swaying, thereby improving the stability and lifespan of the suction cup body.

Description

Technical Field

[0001] This invention relates to the field of warehousing and transportation technology, and in particular to a gripping machine and method for storing synthetic resin tiles. Background Technology

[0002] Synthetic resin tiles are a new type of roofing material made primarily of synthetic resin through high-temperature co-extrusion molding. They are often used to replace traditional clay tiles and glazed tiles, and are characterized by their light weight, corrosion resistance, aging resistance, and ease of installation. They are suitable for pitched roof structures such as self-built houses, factories, and garden buildings.

[0003] On automated production lines for synthetic resin tiles, automated grippers equipped with vacuum suction cups are typically used to achieve efficient and precise palletizing and handling, thereby stabilizing the tile surface and enabling rapid single-sheet separation and stacking.

[0004] To prevent scratching the ASA layer on the surface of synthetic resin tiles, the vacuum suction cups equipped on automated production lines are mostly made of soft silicone. While this effectively protects the surface of the synthetic resin tiles, the soft material of the vacuum suction cups causes some shaking during the acceleration and deceleration process when the vacuum suction cups hold the synthetic resin tiles for material transfer. This can easily cause stress tearing at the base of the vacuum suction cup, leading to a sharp decrease in the stability and service life of the vacuum suction cups. Summary of the Invention

[0005] Therefore, it is necessary to provide a gripper and method for storing synthetic resin tiles to address the problems existing in current automated grippers, in order to solve the problems of low adsorption stability and short service life of the vacuum suction cups in existing automated grippers.

[0006] The above objectives are achieved through the following technical solutions:

[0007] A gripper for storing synthetic resin tiles includes:

[0008] frame;

[0009] The powertrain is mounted on the frame;

[0010] The gripping mechanism includes a mounting base, a suction cup body, auxiliary arms, and an elastic component. The mounting base is connected to the power assembly. The suction cup body is mounted on the mounting base. There are multiple auxiliary arms, which are arranged at equal intervals around the axis of the suction cup body and are rotatably mounted on the suction cup body in the middle. The two ends of the elastic component are respectively connected to the upper end of the auxiliary arm and the mounting base. The elastic component is configured such that when the lower end of the auxiliary arm rotates upward, the elastic force of the elastic component increases.

[0011] In the initial state, the lower end of the auxiliary arm is lower than the lower end of the suction cup body;

[0012] In the gripping state, the auxiliary arm rotates upwards by a preset angle around its rotation point until the lower end of the auxiliary arm presses against the upper surface of the synthetic resin tile, while the suction cup body holds the upper surface of the synthetic resin tile with a predetermined pressure.

[0013] Preferably, the elastic component includes a fixed ring, a movable ring, a hinge rod, and a tension spring. The fixed ring is disposed on the lower surface of the mounting base plate and is coaxial with the suction cup body. The movable ring is sleeved outside the fixed ring and configured to move along the axis of the fixed ring. The tension spring is sleeved outside the fixed ring, and its two ends are respectively connected to the fixed ring and the movable ring. One end of the hinge rod is rotatably connected to the outside of the movable ring, and the other end is rotatably connected to the upper end of the auxiliary arm.

[0014] Preferably, the suction cup body is rotatably mounted on the mounting base plate, and a transmission component is provided between the moving ring and the fixed ring. The moving ring is configured to move downward a set distance along its axis each time, so that the moving ring rotates around its axis by a preset angle.

[0015] Preferably, the transmission assembly includes a guide post and a guide groove. The guide post is elastically connected to the inner circumferential surface of the moving ring and can move radially along the moving ring. The guide groove is formed on the outer circumferential surface of the fixed ring and slides with the guide post. The guide groove includes multiple spiral grooves and multiple vertical grooves, which are alternately connected to form a ring.

[0016] Preferably, a support plate is rotatably connected to the lower end of the auxiliary arm, and an elastic element is provided between the support plate and the lower part of the auxiliary arm, and the elastic element is configured such that the support plate is in a horizontal position in the initial state.

[0017] Preferably, a flexible scraper is embedded on the lower surface of the support plate, and the flexible scraper is configured at an angle to the support plate in the horizontal direction.

[0018] Preferably, a rigid air guide tube is vertically inserted into the mounting base, the rigid air guide tube is coaxial with the suction cup body, and the suction cup body is rotatably connected to the mounting base through the rigid air guide tube.

[0019] Preferably, the upper end of the rigid air tube is connected to a vacuum generator.

[0020] Preferably, the powertrain includes a sliding seat, a rotating seat, a column, a crossbeam, and a horizontal adjustment frame. The sliding seat is slidably mounted on the frame and can move horizontally. The rotating seat is rotatably mounted on the sliding seat and can rotate around its axis of rotation. The column is mounted on the rotating seat. The crossbeam is slidably mounted on the column and can move vertically. The horizontal adjustment frame is slidably connected to the crossbeam and can move horizontally. The horizontal adjustment frame is fixedly connected to the mounting base plate.

[0021] A method for using a gripper for storing synthetic resin tiles, comprising the following steps:

[0022] S100, start the powertrain and drive the gripping mechanism to move down a preset distance;

[0023] S200, start the vacuum generator;

[0024] S300, start the powertrain, drive the gripping mechanism to transfer the synthetic resin tile it has gripped to the stacking position;

[0025] S400, shut down the vacuum generator;

[0026] S500, start the powertrain and reset the gripping mechanism to its initial position.

[0027] The beneficial effects of this invention are:

[0028] 1. The present invention is provided with an auxiliary arm and an elastic component. During the transfer of the synthetic resin tile, the auxiliary arm provides rigid support to the synthetic resin tile near the suction cup body. Therefore, the shaking force caused by acceleration and deceleration during the transfer process can be transferred to the auxiliary arm, reducing the tearing stress on the suction cup body due to shaking, thereby improving the stability and life of the suction cup body.

[0029] 2. By allowing the suction cup body to rotate at a preset angle each time, the present invention helps to make the compression deformation of the suction cup body at all parts of the circumference more uniform, thereby maintaining the sealing force of the suction cup body and extending its working life.

[0030] 3. The present invention is equipped with a flexible scraper. During the upward reset of the moving ring, the auxiliary arm rotates circumferentially around the axis of the suction cup body. At this time, the auxiliary arm drives the flexible scraper to move downward and rotate circumferentially relative to the flexible part of the suction cup body through the support plate, sweeping the lip area of ​​the flexible part to remove impurities that may be adhered to the lip area of ​​the flexible part, so as to ensure the gripping stability of the suction cup body, and at the same time eliminate damage to the flexible part of the suction cup body caused by external factors. Attached Figure Description

[0031] Figure 1 This is an overall schematic diagram of a gripper for storing synthetic resin tiles according to the present invention;

[0032] Figure 2 for Figure 1 Front view;

[0033] Figure 3 for Figure 1 A magnified schematic diagram of the structure at point A in the middle;

[0034] Figure 4This is a front view of the gripping mechanism in a gripper for storing synthetic resin tiles according to the present invention;

[0035] Figure 5 for Figure 4 A sectional view;

[0036] Figure 6 for Figure 5 A magnified schematic diagram of the structure at point B in the middle;

[0037] Figure 7 This is a schematic diagram of the suction cup body in a gripper for storing synthetic resin tiles according to the present invention;

[0038] Figure 8 This is a schematic diagram of the elastic component in a synthetic resin tile gripper of the present invention;

[0039] Figure 9 This is a schematic diagram of the gripping state of the gripping mechanism in a gripping machine for storing synthetic resin tiles according to the present invention.

[0040] in:

[0041] 100. Rack;

[0042] 200. Powertrain; 210. Sliding seat; 220. Rotating seat; 230. Column; 240. Crossbeam; 250. Horizontal adjustment bracket;

[0043] 300. Gripping mechanism; 310. Mounting base plate; 320. Suction cup body; 321. Flange; 322. Rigid part; 323. Flexible part; 330. Auxiliary arm; 340. Elastic component; 350. Transmission component; 360. Support plate; 370. Elastic element; 380. Flexible scraper; 390. Rigid air guide tube;

[0044] 341. Fixed ring; 342. Moving ring; 343. Hinge rod; 344. Tension spring; 345. Follower ring; 346. Limiting ring;

[0045] 351, guide post; 352, guide groove; 3521, spiral inclined groove; 3522, vertical groove;

[0046] 400. Conveyor line;

[0047] 500, Synthetic resin tile; 510, Horizontal section; 520, Arched section. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0049] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They 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, and therefore should not be construed as limiting the invention.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] like Figures 1 to 9 As shown, a gripper for storing synthetic resin tiles includes a frame 100, a power assembly 200, and a gripping mechanism 300. The power assembly 200 is mounted on the frame 100. The gripping mechanism 300 includes a mounting base 310, a suction cup body 320, auxiliary arms 330, and an elastic component 340. The mounting base 310 is connected to the power assembly 200. The suction cup body 320 is mounted on the mounting base 310. Multiple auxiliary arms 330 are arranged at equal intervals around the axis of the suction cup body 320, and are rotatably mounted on the suction cup body 320 at their center. The two ends of the elastic component 340 are respectively connected to the upper end of the auxiliary arm 330 and the mounting base plate 310. The elastic component 340 is configured such that when the lower end of the auxiliary arm 330 rotates upward, the elastic force of the elastic component 340 increases. In the initial state, the height of the lower end of the auxiliary arm 330 is lower than the height of the lower end of the suction cup body 320. In the gripping state, the auxiliary arm 330 rotates upward around its rotation point by a preset angle until the lower end of the auxiliary arm 330 presses against the upper surface of the synthetic resin tile 500. At the same time, the suction cup body 320 holds the synthetic resin tile 500 with a predetermined pressure.

[0052] Regarding the synthetic resin tile 500, it should be noted that common synthetic resin tiles 500 are composed of multiple horizontal portions 510 and multiple arched portions 520. To facilitate material gripping, the suction cup of existing automated gripping machines holds the material at the horizontal portion 510 of the synthetic resin tile 500. This invention draws on existing technology, therefore, the suction portion of the suction cup body 320 in this invention is also the horizontal portion 510 of the synthetic resin tile 500. In order to transport the synthetic resin tile 500 to the area below the gripping mechanism 300, and to ensure that the position of the horizontal portion 510 of the synthetic resin tile 500 corresponds to the position of the suction cup body 320 of the gripping mechanism 300, a conveyor line 400 is provided below the gripping mechanism 300. This conveyor line 400 is used to transport the synthetic resin tile 500 cut to a fixed length to the location of the gripping mechanism 300, and to ensure that the position of the horizontal portion 510 of the synthetic resin tile 500 transported there corresponds to the position of the suction cup body 320.

[0053] In use, synthetic resin tiles 500 cut to a predetermined length are conveyed via conveyor line 400 to a position below the gripping mechanism 300 and stop moving. At this point, the horizontal portion 510 of the synthetic resin tile 500 corresponds to the position of the suction cup body 320. Next, the power assembly 200 is activated, driving the gripping mechanism 300 to move downwards a predetermined distance. Since the lower end of the auxiliary arm 330 is initially lower than the lower end of the suction cup body 320, during the downward movement of the gripping mechanism 300... The lower end face of the auxiliary arm 330 first contacts the horizontal portion 510 of the synthetic resin tile 500, and after the lower end face of the auxiliary arm 330 contacts the upper surface of the horizontal portion 510 of the synthetic resin tile 500, as the gripping mechanism 300 continues to move downward, the auxiliary arm 330 rotates upward around its rotation point. When the downward movement distance of the gripping mechanism 300 is equal to a preset distance, the upward rotation angle of the auxiliary arm 330 is equal to a preset angle. At this time, the gripping mechanism 300 switches from the initial state to the gripping state. The lower end face of the auxiliary arm 330... The end is pressed against the upper surface of the horizontal portion 510 of the synthetic resin tile 500, forming a rigid support for the area of ​​the horizontal portion 510 of the synthetic resin tile 500 near the suction cup body 320. Simultaneously, the suction cup body 320 holds the upper surface of the synthetic resin tile 500 with a preset pressure, ensuring full contact between the suction cup body 320 and the upper surface of the horizontal portion 510 of the synthetic resin tile 500. Next, a vacuum is created in the suction cup body 320, holding the synthetic resin tile 500 onto the suction cup body 320. Then, the movement... When the force assembly 200 is activated, the gripping mechanism 300 moves the synthetic resin tile 500 from the location of the conveyor line 400 to the location of the stack. During the transfer of the synthetic resin tile 500, the auxiliary arm 330 provides rigid support to the synthetic resin tile 500 near the suction cup body 320. Therefore, the swaying force caused by acceleration and deceleration during the transfer process can be transferred to the auxiliary arm 330, reducing the tearing stress on the suction cup body 320 due to swaying, thereby improving the stability and lifespan of the suction cup body 320.

[0054] After the gripping mechanism 300 transfers the currently gripped synthetic resin tile 500 to the stacking position, the suction cup body 320 stops vacuuming. Next, the power assembly 200 drives the gripping mechanism 300 to reset upwards. At this time, the synthetic resin tile 500 gradually separates from the gripping mechanism 300. During this process, the elastic force of the elastic component 340 is gradually released, driving the auxiliary arm 330 to reset to the initial position so that the gripping mechanism 300 can grip the next synthetic resin tile 500.

[0055] To explain, during the transfer of the synthetic resin tile 500, since the suction cup body 320 is in a negative pressure vacuum state, there is a certain positive pressure between the lower end of the auxiliary arm 330 and the upper surface of the horizontal part 510. Therefore, during the transfer process, there is an appropriate amount of friction between the lower end of the auxiliary arm 330 and the upper surface of the horizontal part 510 to hinder the radial displacement of the suction cup body 320, thus reducing the radial tearing force on the suction cup body 320.

[0056] In a further embodiment, such as Figures 2-5 As shown, the elastic component 340 includes a fixed ring 341, a movable ring 342, a hinge rod 343, and a tension spring 344. The fixed ring 341 is disposed on the lower surface of the mounting base plate 310 and is coaxial with the suction cup body 320. The movable ring 342 is sleeved on the outside of the fixed ring 341 and is configured to move along the axis of the fixed ring 341. The tension spring 344 is sleeved on the outside of the fixed ring 341 and its two ends are respectively connected to the fixed ring 341 and the movable ring 342. One end of the hinge rod 343 is rotatably connected to the outside of the movable ring 342, and the other end is rotatably connected to the upper end of the auxiliary arm 330.

[0057] After the lower end of the auxiliary arm 330 contacts the synthetic resin tile 500, as the gripping mechanism 300 continues to move downward, the auxiliary arm 330 rotates around its rotation connection point. At this time, the upper end of the auxiliary arm 330 presses down the hinge rod 343, and the hinge rod 343 pushes the moving ring 342 to move downward along its axis. At this time, the tension spring 344 is stretched, and the elastic force gradually increases until the moving ring 342 moves from the upper limit position to the lower limit position.

[0058] When the suction cup body 320 stops vacuuming, as the gripping mechanism 300 gradually moves upward to reset, the auxiliary arm 330 gradually disengages from the horizontal part 510 of the synthetic resin tile 500. At this time, the elastic force of the tension spring 344 is gradually released. Under the action of the elastic force of the tension spring 344, the moving ring 342 moves upward to reset. The moving ring 342 then pushes the auxiliary arm 330 to rotate downward to reset through the hinge rod 343 until the auxiliary arm 330 resets to the position corresponding to the initial state. At this time, the moving ring 342 also moves from the lower limit position to the upper limit position.

[0059] It is understandable that, due to the thin-walled shape of the synthetic resin tile 500, it possesses certain bending characteristics. This causes the synthetic resin tile 500 to arch along its length after the suction cup body 320 holds it. This results in uneven distribution of compression deformation in the circumferential direction of the suction cup body 320. Over time, this can lead to inconsistent sealing force in the circumferential direction of the suction cup body 320, resulting in uneven material fatigue wear across the circumference. This is detrimental to the normal use, maintenance, and replacement of the suction cup body 320. To address this issue, in a further embodiment, such as... Figure 6 As shown, the suction cup body 320 is rotatably mounted on the mounting base plate 310. A transmission assembly 350 is provided between the moving ring 342 and the fixed ring 341. The moving ring 342 is configured such that when it moves downward a set distance along its axis, it rotates around its axis by a preset angle. For example, when the moving ring 342 moves downward a set distance along its axis, the angle of rotation of the moving ring 342 around its axis reaches 30°.

[0060] Since the transmission component 350 is configured such that the moving ring 342 rotates circumferentially around its axis by a preset angle each time it moves downward a set distance along its axis, during the downward movement of the moving ring 342, the transmission component 350 causes the moving ring 342 to rotate circumferentially around its axis. When the moving ring 342 moves from the upper limit point to the lower limit point (the vertical distance between the upper limit point and the lower limit point is equal to the set distance), the circumferential rotation angle of the moving ring 342 reaches the preset angle, such as 30°. This prevents the problem of inconsistent compression at various points in the circumference of the suction cup body 320 caused by the bending deformation of the synthetic resin tile 500 itself from becoming increasingly serious over time, which in turn exacerbates the problem of inconsistent material fatigue wear at various points in the circumference of the suction cup body 320. Therefore, by causing the suction cup body 320 to rotate circumferentially by a preset angle each time, it is beneficial to make the compression deformation at various points in the circumference of the suction cup body 320 tend to be consistent, so as to maintain the sealing force of the suction cup body 320 and extend its working life.

[0061] Furthermore, such as Figure 5 and Figure 7As shown, a rigid air guide tube 390 is vertically inserted into the mounting base 310. The rigid air guide tube 390 is coaxial with the suction cup body 320, and the suction cup body 320 is rotatably connected to the mounting base 310 through the rigid air guide tube 390. Specifically, the suction cup body 320 includes two parts: a rigid part 322 and a flexible part 323. The rigid part 322 is rotatably connected to the rigid air guide tube 390, and the flexible part 323 is made of flexible silicone material for flexibly holding the synthetic resin tile 500. In addition, the lower end of the rigid air guide tube 390 extends to form an annular rim to support the rigid part 322 and prevent the rigid part 322 from disengaging from the rigid air guide tube 390.

[0062] Furthermore, such as Figure 6 As shown, a follower ring 345 is rotatably provided on the lower part of the mounting base plate 310. The follower ring 345 is fixedly connected to the upper end of the tension spring 344, so that the tension spring 344 is rotatably connected to the mounting base plate 310 through the follower ring 345.

[0063] Furthermore, such as Figure 3 and Figure 7 As shown, a flange 321 is also provided on the lower outer circumferential surface of the rigid part 322, and the middle part of the auxiliary arm 330 is rotatably connected to the flange 321.

[0064] Furthermore, in order to create a vacuum inside the suction cup body 320, a vacuum generator is connected to the upper end of the rigid air guide tube 390.

[0065] After the vacuum generator is started, it quickly removes the air from the suction cup body 320 to form a vacuum, thereby generating negative pressure suction on the synthetic resin tile 500 below it.

[0066] In a further embodiment, such as Figure 6 and Figure 7As shown, the transmission assembly 350 includes a guide post 351 and a guide groove 352. The guide post 351 is elastically connected to the inner circumferential surface of the moving ring 342 and can move radially along the moving ring 342. Preferably, a mounting hole is provided on the inner circumferential surface of the moving ring 342, and a compression spring is provided in the mounting hole. The end of the compression spring away from the mounting hole is fixedly connected to the guide post 351. The guide groove 352 is formed on the outer circumferential surface of the fixed ring 341, and the guide groove 352 slides with the guide post 351. The guide groove 352 includes multiple spiral inclined grooves 3521 and multiple vertical grooves 3522. The spiral groove 3521 and multiple vertical grooves 3522 are alternately connected to form a ring, and the spiral groove 3521 is a deep groove and the vertical grooves 3522 are shallow grooves. The two ends of the spiral groove 3521 and the corresponding vertical grooves 3522 are connected with guide slopes. The guide slope at the bottom of the spiral groove 3521 is used to allow the guide post 351 to move from the spiral groove 3521 to the vertical groove 3522, and the guide slope at the top of the spiral groove 3521 is used to allow the guide post 351 to move from the vertical groove 3522 to the spiral groove 3521.

[0067] In the initial state, the moving ring 342 is at the upper limit position, and the guide post 351 is located at the top of the vertical groove 3522. When the moving ring 342 moves from the upper limit position to the lower limit position, the guide post 351 moves from the top of the vertical groove 3522 to the bottom of the spiral groove 3521 (which is also the bottom of the vertical groove 3522). When the moving ring 342 returns to the upper limit position from the lower limit position, the guide post 351 moves from the bottom of the spiral groove 3521 to the top of the vertical groove 3522 (which is also the top of the spiral groove 3521).

[0068] Furthermore, such as Figure 7 As shown, a limiting ring 346 is provided at the lower part of the fixing ring 341, and the upper surface of the limiting ring 346 is flush with the bottom of the vertical groove 3522.

[0069] In a further embodiment, such as Figure 3 As shown, the lower end of the auxiliary arm 330 is rotatably connected to a support plate 360. An elastic element 370 is provided between the support plate 360 ​​and the lower part of the auxiliary arm 330. The elastic element 370 is configured such that the support plate 360 ​​is in a horizontal position in the initial state. The elastic element 370 is preferably an arc-shaped metal spring.

[0070] The support plate 360 ​​is provided to increase the contact area between the support plate and the upper surface of the horizontal portion 510 of the synthetic resin tile 500, thereby increasing the friction.

[0071] The elastic element 370 is provided to allow the support plate 360 ​​to adaptively adjust the angle between itself and the auxiliary arm 330, thereby ensuring that the support plate 360 ​​and the horizontal part 510 of the synthetic resin tile 500 always maintain surface contact, thereby ensuring that the upper surface of the horizontal part 510 of the synthetic resin tile 500 and the support plate 360 ​​have an appropriate amount of friction.

[0072] It is understandable that the surface of the cut synthetic resin tile 500 may contain some cutting debris and release agent powder (collectively referred to as impurities). After the flexible part 323 separates from the horizontal part 510 of the synthetic resin tile 500, some impurities may adhere to the lip area of ​​the flexible part 323. This will not only cause wear on the lip area of ​​the flexible part 323, but also reduce the sealing force of the flexible part 323, affecting the gripping stability and service life of the suction cup body 320. To solve this problem, in a further embodiment, such as Figure 3 As shown, a flexible scraper 380 is embedded on the lower surface of the support plate 360, and the flexible scraper 380 and the support plate 360 ​​are arranged at an angle in the horizontal direction. The flexible scraper 380 can be made of flexible silicone material.

[0073] After the moving ring 342 moves downward until the flexible scraper 380 contacts the horizontal part 510 of the synthetic resin tile 500, as the moving ring 342 continues to move downward, the auxiliary arm 330 rotates circumferentially around the axis of the suction cup body 320. At this time, the auxiliary arm 330 drives the flexible scraper 380 to rotate circumferentially simultaneously through the support plate 360. The circumferential rotation of the flexible scraper 380 scrapes the horizontal part 510 of the synthetic resin tile 500 that the suction cup body 320 is to contact in advance, removing any impurities that may be attached, so as to ensure the gripping stability of the suction cup body 320, and at the same time eliminate damage to the flexible part 323 of the suction cup body 320 caused by external factors.

[0074] In a further embodiment, such as Figure 1 and Figure 2As shown, the powertrain 200 includes a sliding seat 210, a rotating seat 220, a column 230, a crossbeam 240, and a horizontal adjustment frame 250. The sliding seat 210 is slidably mounted on the frame 100 and can move horizontally. Specifically, the sliding seat 210 can be driven to move along the frame 100 by a motor or hydraulic components. The rotating seat 220 is rotatably mounted on the sliding seat 210 and can rotate around its rotation axis. Specifically, the rotating seat 220 can be driven to rotate around its rotation axis by a motor and a gear module transmission. The column 230 is mounted on the rotating seat 220. The beam 240 is slidably mounted on the column 230, and the beam 240 can move vertically. Specifically, the beam 240 can be driven to move vertically by the cooperation of a motor and a lead screw. The horizontal adjustment frame 250 is slidably connected to the beam 240, and the horizontal adjustment frame 250 can move horizontally. The horizontal adjustment frame 250 is fixedly connected to the mounting base plate 310. Specifically, the horizontal adjustment frame 250 can be driven to move along the beam 240 by a crawler-type feeding mechanism, so as to adjust the gripping position of the suction cup body 320 according to the different specifications of the synthetic resin tile 500 produced.

[0075] A method for using a gripper for storing synthetic resin tiles, comprising the above-mentioned gripper for storing synthetic resin tiles, includes the following steps:

[0076] S100, start the powertrain 200, drive the gripping mechanism 300 to move down a preset distance;

[0077] S200, start the vacuum generator;

[0078] S300, start the powertrain 200, drive the gripping mechanism 300 to transfer the gripped synthetic resin tile 500 to the stacking position;

[0079] S400, shut down the vacuum generator;

[0080] S500, start the powertrain 200 to reset the gripping mechanism 300 to its initial position.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A synthetic resin tile storage grabbing machine characterized by, include: frame; The powertrain is mounted on the frame; The gripping mechanism includes a mounting base, a suction cup body, auxiliary arms, and an elastic component. The mounting base is connected to the power assembly. The suction cup body is mounted on the mounting base. There are multiple auxiliary arms, which are arranged at equal intervals around the axis of the suction cup body and are rotatably mounted on the suction cup body in the middle. The two ends of the elastic component are respectively connected to the upper end of the auxiliary arm and the mounting base. The elastic component is configured such that when the lower end of the auxiliary arm rotates upward, the elastic force of the elastic component increases. In the initial state, the lower end of the auxiliary arm is lower than the lower end of the suction cup body; In the gripping state, the auxiliary arm rotates upwards by a preset angle around its rotation point until the lower end of the auxiliary arm presses against the upper surface of the synthetic resin tile, while the suction cup body holds the upper surface of the synthetic resin tile with a predetermined pressure.

2. The synthetic resin shingle storage grabbing machine according to claim 1, wherein The elastic component includes a fixed ring, a movable ring, a hinge rod, and a tension spring. The fixed ring is disposed on the lower surface of the mounting base plate and is coaxial with the suction cup body. The movable ring is sleeved outside the fixed ring and configured to move along the axis of the fixed ring. The tension spring is sleeved outside the fixed ring, and its two ends are respectively connected to the fixed ring and the movable ring. One end of the hinge rod is rotatably connected to the outside of the movable ring, and the other end is rotatably connected to the upper end of the auxiliary arm.

3. The gripper for storing synthetic resin tiles according to claim 2, characterized in that, The suction cup body is rotatably mounted on the mounting base plate. A transmission component is provided between the moving ring and the fixed ring, and the moving ring is configured to move downward a set distance along its axis each time, so that the moving ring rotates around its axis by a preset angle.

4. The gripper for storing synthetic resin tiles according to claim 3, characterized in that, The transmission assembly includes a guide post and a guide groove. The guide post is elastically connected to the inner circumferential surface of the moving ring and can move radially along the moving ring. The guide groove is opened on the outer circumferential surface of the fixed ring and slides with the guide post. The guide groove includes multiple spiral grooves and multiple vertical grooves, which are alternately connected to form a ring.

5. A gripper for storing synthetic resin tiles according to claim 1 or 4, characterized in that, The lower end of the auxiliary arm is rotatably connected to a support plate, and an elastic element is provided between the support plate and the lower part of the auxiliary arm. The elastic element is configured such that the support plate is in a horizontal position in the initial state.

6. The gripper for storing synthetic resin tiles according to claim 5, characterized in that, The lower surface of the support plate is embedded with a flexible scraper, and the flexible scraper is configured at an angle to the support plate in the horizontal direction.

7. The gripper for storing synthetic resin tiles according to claim 3, characterized in that, A rigid air guide tube is vertically inserted into the mounting base. The rigid air guide tube is coaxial with the suction cup body, and the suction cup body is rotatably connected to the mounting base through the rigid air guide tube.

8. A gripper for storing synthetic resin tiles according to claim 7, characterized in that, The upper end of the rigid gas delivery tube is connected to the vacuum generator.

9. A gripper for storing synthetic resin tiles according to claim 1, characterized in that, The powertrain includes a sliding seat, a rotating seat, a column, a crossbeam, and a horizontal adjustment frame. The sliding seat is slidably mounted on the frame and can move horizontally. The rotating seat is rotatably mounted on the sliding seat and can rotate around its axis of rotation. The column is mounted on the rotating seat. The crossbeam is slidably mounted on the column and can move vertically. The horizontal adjustment frame is slidably connected to the crossbeam and can move horizontally. The horizontal adjustment frame is fixedly connected to the mounting base plate.

10. A method for a gripper used in the storage of synthetic resin tiles, characterized in that, The method of using the synthetic resin tile storage gripper according to any one of claims 1-9 includes the following steps: S100, start the powertrain and drive the gripping mechanism to move down a preset distance; S200, start the vacuum generator; S300, start the powertrain, drive the gripping mechanism to transfer the synthetic resin tile it has gripped to the stacking position; S400, shut down the vacuum generator; S500, start the powertrain and reset the gripping mechanism to its initial position.

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