CN106346633B - automatic grasping system for single or multiple stations of rubber compound sheet - Google Patents
automatic grasping system for single or multiple stations of rubber compound sheet Download PDFInfo
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- CN106346633B CN106346633B CN201610986491.0A CN201610986491A CN106346633B CN 106346633 B CN106346633 B CN 106346633B CN 201610986491 A CN201610986491 A CN 201610986491A CN 106346633 B CN106346633 B CN 106346633B
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- film
- grabbing
- rubber
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- movement device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B7/00—Mixing; Kneading
- B29B7/80—Component parts, details or accessories; Auxiliary operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Tyre Moulding (AREA)
Abstract
the invention discloses a single-station or multi-station automatic grabbing system for rubber compound sheets, wherein a system supporting mechanism of the system can meet the requirement that the system can realize the stability of the whole system when multi-station rubber sheets are supplied; the horizontal movement device ensures that the film gripping device reciprocates on the supporting mechanism, and a multi-position travel switch is added to realize accurate positioning of the supplied film; the vertical movement device adopts the design principle that multi-stage cylinders are connected in series, so that the glue grasping system can accurately extrude and grasp the films with different heights; the elastic connecting device realizes the elastic connection between the film gripping device and the vertical movement device, prevents the film from being uneven to generate extrusion torque, and plays a role in buffering protection; the film grabbing device adopts a mode of squeezing first and then grabbing, so that the film grabbing process is stable and reliable; the film compression roller device is used for extruding and fixing the film when the film is placed, and preventing the film from directly sliding down to supply the glue machine when the film is placed. The problem that artifical transport confession glued in-process exists can effectively be solved in this design, improves work efficiency and reliability, reduce cost.
Description
Technical Field
The invention relates to the field of rubber production and processing, in particular to a single-station or multi-station automatic grabbing system for rubber compound sheets.
Background
In the production process of the rubber industry, tires and rubber products are various, and different rubber and tire products need different formulas and rubber mixing processes, so that rubber materials and other formula additives need to be cut, weighed and the like according to the formula of the product before entering an internal mixer for mixing, and then the rubber materials and other formula additives are mixed for rubber mixing.
In the rubber mixing workshop, the mixing film is usually stacked on the film tray and is stored near the rubber material cutting weighing equipment, and is closely stacked, and when the rubber material is cut and weighed, the tray film is transported to the front of the rubber cutting and supplying machine by a forklift and is sequentially arranged, and the height of each tray film is different, and the manual grabbing of the film and the transportation of the film to the rubber cutting and supplying are very difficult. Generally, the geometric specification of each roll of compounded rubber sheet is about 1400X 900 (length X width), the height is 500 and 1750 are not fixed, and the weight is more than 100 Kg. The elasticity and the toughness of the solid sheet-shaped mixing rubber sheet are slightly poorer than those of common rubber finished products at normal temperature, but the mixing rubber sheet still belongs to a soft and easily deformable solid substance, and when a plurality of stations supply rubber simultaneously, the manual grabbing and rubber supply are more difficult.
At present, many domestic rubber factories adopt manual carrying, and high working efficiency is difficult to maintain due to high labor intensity. Meanwhile, in order to meet the requirement of industrial automation development, a system suitable for automatically grabbing the mixing sheets needs to be designed, so that the problems are solved efficiently and reliably.
disclosure of Invention
In view of the above, the invention provides a single-station or multi-station automatic grabbing system for rubber mixing sheets, which is matched with a rubber cutting and supplying machine to realize integrated automatic control of automatic grabbing, glue supplying, cutting, weighing and the like of the rubber mixing sheets, so that the automation degree of equipment is improved, the problems existing in the manual rubber conveying and supplying process are effectively solved, the working efficiency and reliability are improved, and the cost is reduced.
In order to achieve the purpose, the invention provides the following technical scheme:
a single or multi-station automatic grabbing system for rubber mixing sheets comprises: the system supporting mechanism and a horizontal movement device, a vertical movement device and a film grabbing device which are arranged on the system supporting mechanism;
the horizontal motion device can order about film grabbing device moves in the horizontal direction, vertical motion device can order about film grabbing device moves in the vertical direction, film grabbing device can grab and put down the film.
Preferably, the system is provided with a plurality of stations, and the system supporting mechanism is provided with a plurality of position sensors which correspond to the stations one to one.
Preferably, the horizontal movement device adopts a gear and rack driving structure, a lead screw and slide block driving structure, a synchronous belt driving structure or a chain wheel driving structure.
preferably, the vertical movement device adopts a form of connecting a plurality of stages of cylinders in series, and each stage of cylinder is provided with a plurality of linear guide bearings and guide pillars.
Preferably, the film gripping device further comprises elastic connecting means arranged between the vertical moving means and the film gripping means.
preferably, the elastic connecting device is a structure formed by vertically connecting a rotating pin and a spring mechanism in series.
Preferably, the end of the film gripping device is provided with a pressure sensor, and the system can control the vertical movement device to stop when the extrusion force reaches a preset threshold value.
Preferably, the film grabbing device selects a structure matched with the air cylinder and the connecting rod to drive the grabbing knife to act.
Preferably, the film pressing device is further included and can extrude and fix the film grabbed by the film grabbing device on the cutter glue supply machine.
Preferably, the film pressing roller device adopts a structure that an air cylinder pushes a pressing roller swing arm.
According to the technical scheme, the single-station or multi-station automatic rubber mixing sheet grabbing system provided by the invention has the advantages that after a rubber sheet is grabbed by the rubber sheet grabbing device, the rubber sheet is moved to the position above the rubber cutting machine by virtue of the vertical and horizontal devices, and then the rubber sheet is put down by the rubber sheet grabbing device, so that the automatic rubber grabbing and automatic rubber putting of the rubber sheet are completed; this system cooperation is surely glued and is supplied the machine of glue and realize that the mixing film is automatic to be snatched, is supplied gluey, is cut, integrated automatic control such as weighing, improve equipment degree of automation to effectively solve the problem that artifical transport supplied to glue the in-process and exist, improve work efficiency and reliability, reduce cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a single-station or multi-station automatic rubber grabbing and feeding system for a cutting knife for rubber compound sheets according to an embodiment of the present invention;
Fig. 2 is a schematic view of a single-station or multi-station automatic rubber mixing sheet grabbing system provided by the embodiment of the invention.
Wherein, 1-cutter glue supply machine; 2-single or multi-station automatic grabbing system for rubber compound slices;
21-a system support mechanism; 22-tray film (different heights); 23-a horizontal movement device; 24-a vertical movement device; 25-elastic connection means; 26-a film gripping device; 27-film roller assembly.
Detailed Description
The invention discloses a single-station or multi-station automatic grabbing system for rubber mixing sheets, which is matched with a rubber cutting and supplying machine to realize integrated automatic control of automatic grabbing, glue supplying, cutting, weighing and the like of rubber mixing sheets, improves the automation degree of equipment, effectively solves the problems in the manual rubber conveying and supplying process, improves the working efficiency and reliability and reduces the cost.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The single or multi-station automatic grabbing system for the rubber compound slices provided by the embodiment of the invention has the core improvement points that the system comprises: the system supporting mechanism 21 and the horizontal moving device 23, the vertical moving device 24 and the film gripping device 26 mounted thereon, the structure of which can be seen with reference to fig. 2;
Wherein, the horizontal moving device 23 can drive the film gripping device 26 to move in the horizontal direction so as to translate the film to a designated position (for example, above the cutter glue feeder 1, refer to 1); the vertical movement device 24 can drive the film gripping device 26 to move in a vertical direction to facilitate lifting and lowering the film after it is gripped; the film grasping device 26 is capable of grasping and setting down film.
According to the technical scheme, the single-station or multi-station automatic grabbing system for the rubber compound sheets provided by the embodiment of the invention has the advantages that after the rubber sheets are grabbed by the rubber sheet grabbing device 26, the rubber sheets are conveyed to the position above the cutter rubber supply machine 1 by virtue of the vertical movement device 24 and the horizontal movement device 23, and then the rubber sheets are placed by the rubber sheet grabbing device 26, so that the automatic rubber grabbing and automatic rubber placing of the rubber compound sheets are completed; this system can cooperate the cutter to supply machine of gluing 1 to realize that the mixing film is automatic to be snatched, is supplied gluey, integrated automatic control such as cutting, weighing, improve equipment degree of automation to effectively solve the problem that artifical transport supplied to glue the in-process and exists, improve work efficiency and reliability, reduce cost.
The system supporting mechanism 21 is used for system supporting, glue grabbing machine positioning and motion guiding, and particularly, structural steel can be selected as a supporting beam, so that the bearing range is wide, and the structure is simple and reliable; the horizontal guide rail is arranged at the position of the cross beam and used for limiting the position of the horizontal movement device, and the reliability of the system is improved.
In order to further optimize the technical scheme, the single-station or multi-station automatic rubber mixing sheet grabbing system provided by the embodiment of the invention is provided with a plurality of stations, and a plurality of position sensors which correspond to the stations one by one are arranged on the system supporting mechanism 21. The embodiment provides a plurality of position sensors, including the multistation position sensor on the supporting mechanism 21 of system, be equipped with corresponding positioning sensor according to system's station number, the real-time supervision is grabbed the machine of gluing and is put, realizes horizontal motion's accurate positioning.
The horizontal motion device 23 for realizing horizontal reciprocating motion can select various modes such as gear and rack drive, screw rod and slide block drive, synchronous belt drive, chain wheel drive and the like; the invention preferably selects a gear and rack driving mode, and has compact matching, large reciprocating force and high control precision.
Preferably, the horizontal movement device 23 is provided with a plurality of limit switches, so that the positioning is realized in real time and the control is convenient. A limit switch for grabbing mucilage binding and put the location uses with the cooperation of system guider, and the position of grabbing mucilage binding and putting in the real-time supervision location, control is convenient, and the reliability is high, realizes that the multistation supplies the accurate positioning of gluing.
The vertical movement device 24 for vertical extension and retraction adopts a mode of connecting a plurality of cylinders in series, so that the movement distance is long, the control is simple, and the push-pull force is large; and each stage of cylinder is provided with a plurality of linear guide bearings and guide pillars, so that the vertical motion strength is enhanced, the transverse stress of the cylinder is reduced, and the reliability is improved.
Further, the single-station or multi-station automatic rubber mixing sheet grabbing system provided by the embodiment of the invention further comprises an elastic connecting device 25 arranged between the vertical movement device 24 and the rubber sheet grabbing device 26, and the elastic connecting device is used for buffering and protecting rubber grabbing actions, preventing uneven rubber sheets from causing uneven stress on a rubber grabbing machine head to generate torque, playing a role in buffering and protecting, and enhancing the reliability of the system, wherein the structure of the system can be shown in fig. 2.
In the embodiment provided by the scheme, the elastic connecting device 25 is formed by connecting two groups of rotating pins and a spring mechanism in series, so that the structure is simplified, and good buffering and protecting effects are achieved.
Preferably, the film gripping device 26 is provided at its end with a pressure sensor communicatively connected to a control portion of the system that controls the vertical motion device 24 to stop if the squeezing force reaches a predetermined threshold. Therefore, the film extrusion degree is controlled according to the set film extrusion force threshold value, the transient extrusion damage of the vertical motion air cylinder is avoided, and the service life of the air cylinder is shortened. The film grabbing device 26 used for realizing film grabbing and putting down in the scheme adopts a mode of grabbing after extrusion, the extrusion enables the flexible film to be in close contact, the film grabbing success rate is improved, and the film is prevented from being grabbed untight.
In the embodiment that this scheme provided, the film that is used for grabbing gluey action snatchs the mechanism, selects for use the mode of cylinder + connecting rod, and when the film put down, it can contract completely into the device to grab the sword, prevents that the film from pasting, hanging the condition such as sword, improves and grabs gluey success rate of putting gluey.
The single-station or multi-station automatic rubber compound sheet grabbing system provided by the embodiment of the invention further comprises a rubber sheet pressing roller device 27, wherein the rubber sheet pressing roller device 27 can extrude and fix the rubber sheet grabbed by the rubber sheet grabbing device 26 on the cutter rubber supply machine 1 and is used for preventing the rubber sheet from falling off when the rubber sheet is placed.
Preferably, the film pressing roller device 27 adopts a structure that an air cylinder pushes a pressing roller swing arm, and the film pressing roller device is simple and reliable in structure and convenient to control. Further, the horizontal moving device 23 can drive the film pressing roller device 27 to move in the horizontal direction; the compression roller device moves along with the horizontal movement device, and the glue grabbing action is not influenced.
The scheme is further described by combining a specific working mode as follows:
Referring to fig. 1 and 2, an automatic single-station or multi-station rubber mixing sheet grabbing system according to an embodiment of the present invention is mainly divided into two parts, namely, an automatic rubber grabbing part and an automatic rubber releasing part, of a rubber mixing sheet, and can realize simultaneous single-station or multi-station rubber feeding and cutting according to requirements. The highly irregular tray mixed material film 22 is sequentially conveyed to a plurality of stations of the film automatic gripping system by a forklift, the film automatic gripping system 2 is started to work, a film gripping trolley (namely a horizontal movement device 23) horizontally moves to the upper part of the first tray film, a vertical movement air cylinder (namely a vertical movement device 24) starts to work, a film gripping machine head (namely a film gripping device 26) moves downwards, when the film gripping trolley is in contact with the film 22 downwards, the film is extruded, when the extrusion force reaches the set requirement, the vertical movement air cylinder stops working, then the film gripping device 26 starts to work, the film gripping air cylinder acts as a gripping knife, the gripping knives at two sides are outwards opened and are inserted into the film, so that the film gripping action is completed, after the film gripping is completed, the vertical movement air cylinder starts to retract to the initial state, the film is vertically gripped to the highest point, and then the horizontal movement device 23 moves towards the direction of the rubber cutter, after moving to the upper part of the rubber cutting machine, the film compression roller device 27 starts to work, the compression roller moves downwards to extrude the film, so that the film is fixed on the rubber cutting machine 1, at the moment, the film grabbing cylinder acts, the grabbing knife retracts to release the film, the mixed film falls on the conveying belt of the rubber cutting machine 1, and the tray film grabbing at the first station is finished; and as above, a plurality of designed station films are sequentially grabbed and supplied with glue until all the stations grab the glue.
In summary, the invention discloses a single or multi-station automatic grabbing system for rubber compound sheets, which mainly aims to: the functions of automatically grabbing, supplying and releasing the mixed rubber sheets are realized, and the integrated automatic control of cutting, weighing and the like is completed by matching with other equipment. The automatic mixed film grabbing system mainly comprises: the system comprises a system supporting mechanism, a horizontal movement device, a vertical movement device, an elastic connection device, a film grabbing device and a film pressing roller device. The system supporting mechanism can meet the requirement that the system realizes the stability of the whole system when multi-station films are supplied; the horizontal movement device ensures that the film gripping device reciprocates on the supporting mechanism, and a multi-position travel switch is added to realize the accurate positioning of single-station or multi-station film supply; the vertical movement device adopts the design principle that multi-stage cylinders are connected in series, so that the glue grasping system can accurately extrude and grasp the films with different heights, and can be designed and adjusted according to the heights of the films; the elastic connecting device realizes the elastic connection between the film gripping device and the vertical movement device, prevents the film from being uneven to generate extrusion torque, and plays a role in buffering protection; the film grabbing device adopts a mode of squeezing first and then grabbing, so that the film grabbing process is stable and reliable, and the film grabbing success rate and the firmness of the film grabbing force are improved; the film compression roller device is used for extruding and fixing the film when the film is placed, so that the film is prevented from directly sliding down to supply the glue machine when the film is placed, and the glue supply success rate is improved. The design of the automatic grabbing system for the mixing rubber sheets can effectively solve the problem existing in the manual conveying rubber supply process, improve the working efficiency and reliability and reduce the cost.
the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. The utility model provides a single or multistation automatic grasping system of elastomeric compound piece which characterized in that includes: a system supporting mechanism (21) and a horizontal moving device (23), a vertical moving device (24), a film gripping device (26) and a film pressing roller device (27) which are arranged on the system supporting mechanism;
the system is provided with a plurality of stations, a plurality of position sensors which correspond to the stations one by one are arranged on the system supporting mechanism (21), and a plurality of limit switches are arranged on the horizontal movement device (23); the horizontal movement device (23) can drive the film gripping device (26) to move among multiple stations in the horizontal direction, the vertical movement device (24) can drive the film gripping device (26) to move in the vertical direction, and the film gripping device (26) can grip and put down films; the film compression roller device (27) can extrude and fix the film grabbed by the film grabbing device (26) on the cutter glue supply machine (1), and the film compression roller device (27) moves along with the horizontal movement device (23);
The vertical movement device (24) adopts a mode of connecting a plurality of stages of cylinders in series, and each stage of cylinder is provided with a plurality of linear guide bearings and guide pillars; the end part of the film gripping device (26) is provided with a pressure sensor, and the system can control the vertical movement device (24) to stop acting under the condition that the extrusion force reaches a preset threshold value;
The rubber compound sheet single-station or multi-station automatic grabbing system further comprises an elastic connecting device (25) arranged between the vertical moving device (24) and the rubber sheet grabbing device (26), and the elastic connecting device (25) is of a structure formed by vertically connecting a rotating pin and a spring mechanism in series.
2. The single-station or multi-station automatic rubber compound sheet grabbing system of claim 1, wherein the horizontal movement device (23) is a gear and rack drive, a screw and slide block drive, a synchronous belt drive or a chain wheel drive.
3. The single or multi-station automatic rubber compound sheet grabbing system according to claim 1, wherein the rubber sheet grabbing device (26) adopts a structure that a cylinder and a connecting rod are matched to drive a grabbing knife to act.
4. The single or multi-station automatic rubber compound sheet grabbing system of claim 1, wherein the film roller device (27) is a structure that a cylinder pushes a roller swing arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610986491.0A CN106346633B (en) | 2016-11-09 | 2016-11-09 | automatic grasping system for single or multiple stations of rubber compound sheet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610986491.0A CN106346633B (en) | 2016-11-09 | 2016-11-09 | automatic grasping system for single or multiple stations of rubber compound sheet |
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| Publication Number | Publication Date |
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| CN106346633A CN106346633A (en) | 2017-01-25 |
| CN106346633B true CN106346633B (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610986491.0A Active CN106346633B (en) | 2016-11-09 | 2016-11-09 | automatic grasping system for single or multiple stations of rubber compound sheet |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109484814A (en) * | 2018-12-29 | 2019-03-19 | 青岛力汇科技有限公司 | A kind of film automatically supplies positioning device and method |
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| CN106002935A (en) * | 2016-05-23 | 2016-10-12 | 上海美诺福科技股份有限公司 | Robot suspending and moving system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102976090B (en) * | 2012-12-19 | 2015-05-20 | 山东金宇实业股份有限公司 | Rubber sheet grabbing device for cooling line |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201666285U (en) * | 2010-04-16 | 2010-12-08 | 奉化市鑫潮自动化元件有限公司 | Serially connected square cylinder |
| CN201800040U (en) * | 2010-09-06 | 2011-04-20 | 无锡市江南橡塑机械有限公司 | Automatic glue stock gripping manipulator |
| CN202765836U (en) * | 2012-04-05 | 2013-03-06 | 软控股份有限公司 | Rubber grabbing machine |
| CN202668797U (en) * | 2012-08-04 | 2013-01-16 | 威海三方橡胶机械有限公司 | Mechanical hand rubber grabbing device |
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| CN106346633A (en) | 2017-01-25 |
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