A transport device for elastic rubber blocks

Abstract

The present invention provides a handling device for an elastomeric rubber block, comprising a fixed base plate, at least two pins, a mechanical claw arranged at the lower end of the pin, a mechanical claw driving mechanism for controlling the opening and closing of the mechanical claw, and a degumming mechanism for assisting the degumming of the pin. The present invention can realize the mechanical handling of the elastomeric rubber block, solving the problem of high labor intensity and low work efficiency in manual handling; reliable grasping and handling are achieved by inserting at least two mechanical claws into the elastomeric rubber block and opening them inside the rubber block, which can be suitable for elastomeric rubber blocks with uneven surfaces and large areas. Since the elastomeric rubber block has viscoelasticity and is firmly coated on the mechanical claw, it is not easy for the rubber block to fall off during handling; a degumming mechanism is provided to assist the elastomeric rubber block to quickly detach from the mechanical claw and the pin.

Description

Technical Field

[0001] The invention relates to the technical field of elastomer processing, and in particular to a transport device for elastomer rubber blocks. Background Art

[0002] Elastomers are polymer materials that deform significantly when subjected to less force, and can quickly return to a state and size close to their original state after the force is removed. They are divided into thermosetting elastomers and thermoplastic elastomers according to whether they can be plasticized. Elastomers have viscoelastic properties and are widely used in industry, especially in the tire industry.

[0003] In the tire production process, the elastomer raw materials are first transported to the cutting machine to be cut into large flat rubber blocks, and then transported to the production line. At present, manual handling is mainly adopted, but the weight of a single elastomer block is mostly over 50kg, so manual handling has problems such as high labor intensity and low work efficiency. In order to solve this problem, some companies use machines instead of manual handling methods. Currently, there are two main types of handling: suction cup grabbing and mechanical handling. Suction cup grabbing is not suitable for handling rubber blocks with uneven surfaces. Mechanical handling mostly adopts the method of pin insertion grabbing. The pin is inserted into the elastomer block and expanded to a certain angle to achieve grabbing. However, the extrusion area of ​​the elastomer block by the pin is small, so the grabbing force is small, which is not suitable for grabbing large-area rubber blocks; and because the pin is relatively smooth, the elastomer block generates inertia during the movement of the elastomer block, making the block easy to fall. Summary of the invention

[0004] Therefore, the present invention provides a transport device for elastomer rubber blocks, which solves the problems of high labor intensity and low work efficiency in manual transport, and can overcome the shortcomings of existing suction cup grabbing and handling and pin-type mechanical handling, and realize reliable grabbing and handling of rubber blocks with uneven surfaces and large areas. The rubber blocks are not easy to fall off during the transportation process, and the rubber blocks can be quickly debonded after they are in place.

[0005] The technical solution of the present invention is as follows: A handling device for an elastomeric rubber block, comprising: a fixed seat plate for connecting a mechanical arm; at least two pins connected to the lower end of the fixed seat plate, the pin comprising a needle body and a needle head; a mechanical claw, comprising a connecting sleeve slidably mounted on the needle body, a plurality of equal first connecting rods and a second connecting rod, the first connecting rod being hinged to the lower end of the connecting sleeve, the second connecting rod being hinged to the upper end of the needle head, and the first connecting rod and the second connecting rod being hinged to each other one by one; a mechanical claw driving mechanism, connecting the fixed seat plate and the connecting sleeve, driving the connecting sleeve to move along the pin, so that the first connecting rod and the second connecting rod are opened or closed; a degumming mechanism, assisting the mechanical claw to complete degumming by pushing the elastomeric rubber block.

[0006] When the above device is working, first the mechanical claw is in a retracted state, and the mechanical arm drives the pin on the fixed seat plate to move downward and insert it into the elastic rubber block. It is necessary to make the connecting sleeve partially inserted into the elastic rubber block, and then the mechanical arm stops moving, and then the mechanical claw driving mechanism starts working, driving the connecting sleeve to move downward so that the mechanical claw opens to grab the elastic rubber block. After the mechanical claw opens to a preset angle, the mechanical claw driving mechanism stops working, and then the mechanical arm moves to transport the elastic rubber block to the work station, and the mechanical claw driving mechanism drives the connecting sleeve to reset, and the mechanical claw returns to the retracted state, and the mechanical arm drives the pin to move upward, and at the same time controls the degumming mechanism to push the elastic rubber block downward, and when the elastic rubber block is completely separated from the pin, the degumming mechanism returns to its original position, thereby completing the transportation of the elastic rubber block. The technical solution of the present invention can realize the transportation of the elastomeric rubber block by machinery, thereby solving the problems of high labor intensity and low work efficiency of manual transportation; and can realize reliable grasping and transportation by inserting a mechanical claw into the elastomeric rubber block and opening it inside the rubber block. Since the elastomeric rubber block has viscoelasticity and is firmly coated on the mechanical claw, the rubber block is not easy to fall off during transportation; and a degumming mechanism is provided to assist the elastomeric rubber block to detach from the mechanical claw and the pin, thereby ensuring that the rubber block stays at the target position after transportation is completed.

[0007] As a further solution of the present invention, the mechanical claw driving mechanism includes a first linear motion driving mechanism and a push plate. The first linear motion driving mechanism is connected to the fixed seat plate and drives the push plate to move relative to the fixed seat plate. The fixed seat plate and the push plate are both flat plates and are arranged parallel to each other. A first through hole is provided on the push plate for the pin to pass through, and the connecting sleeve is fixedly installed on the lower end of the push plate corresponding to the first through hole.

[0008] As a further solution of the present invention, the degumming mechanism includes a second linear motion drive mechanism and a degumming rod. The second linear motion drive mechanism is connected to the fixed seat plate and drives the degumming rod to move relative to the fixed seat plate. A second through hole is provided on the push plate, and the degumming rod passes through the second through hole.

[0009] As a further solution of the present invention, the first linear motion drive mechanism and the second linear motion drive mechanism are both cylinders, and are both mounted on the fixed seat plate through flanges. The first linear motion drive mechanism includes two cylinders, and two connecting rods are symmetrically provided on the upper end surface of the push plate. The guide rods of the cylinders are fixedly connected to the connecting rods through connecting sleeves.

[0010] As a further solution of the present invention, the connection method between the insertion pin and the fixed seat plate is a threaded connection, and the connection method between the connecting sleeve and the push plate is also a threaded connection.

[0011] As a further scheme of the present invention, a first connecting block with a threaded through hole is installed on the fixed seat plate by screws, the pin is threadedly connected to the threaded through hole, a second connecting block is provided on the push plate, the first through hole is arranged on the second connecting block and has an internal thread, the connecting sleeve is divided into a small diameter section and a large diameter section by setting a step, the small diameter section is provided with an external thread for connecting the internal thread, and the large diameter section is a bare rod section; the connecting sleeve is set as a stepped sleeve so that the bottom surface of the push plate contacts the top surface of the large diameter section, and a thrust is provided when the connecting sleeve moves downward, which is more reliable than direct threaded connection without setting a step. In addition, the threaded connection is prone to fatigue damage under load. At this time, only the first connecting block and the second connecting block need to be replaced, and there is no need to replace the entire fixed seat plate or the push plate. The equipment has a long service life and high economic benefits.

[0012] As a further solution of the present invention, it also includes a first ranging sensor, a second ranging sensor and an image sensor. The first ranging sensor is installed on the upper surface of the push plate to measure the moving distance of the push plate and thus control the opening angle of the mechanical claw. The second ranging sensor is installed on the lower surface of the push plate to measure the distance between the lower surface of the push plate and the elastic rubber block. The image sensor is installed on the lower surface of the push plate to monitor whether the pin is inserted into the elastic rubber block.

[0013] As a further solution of the present invention, the needle body and the needle head are threadedly connected, the needle head is conical and has a maximum diameter equal to the maximum outer diameter of the connecting sleeve, and the tip angle of the needle head is less than or equal to 30°; the insertion pin is divided into a detachable needle body and a needle head and the mechanical claw is connected to the needle head. After the mechanical claw has worked for a long time, it may be deformed or broken and needs to be replaced. In this case, it is only necessary to remove the needle head, which facilitates the replacement of the mechanical claw.

[0014] As a further solution of the present invention, the inner and outer surfaces of the first connecting rod and the second connecting rod are both curved surfaces. When the mechanical claw is folded, that is, the first connecting rod and the second connecting rod are collinear, the diameter of the mechanical claw is equal to the maximum outer diameter of the connecting sleeve, so that the resistance encountered by the pin when inserted into the elastomer rubber block is small.

[0015] As a further solution of the present invention, friction grooves are provided on the outer surfaces of the first connecting rod and the second connecting rod to increase the friction with the elastic rubber block and further prevent the elastic rubber block from slipping.

[0016] As a further solution of the present invention, the length ratio of the first connecting rod and the second connecting rod is set between 1 and 1.5, and the opening angle of the mechanical claw when grasping the elastomer rubber block, that is, the angle between the first connecting rod and the second connecting rod, is set between 100° and 130°. This arrangement ensures that the force on the mechanical claw will not be too large or too small when it is opened, thereby avoiding its deformation and having a good grasping effect.

[0017] The technical solution of the present invention has the following advantages: it can realize mechanical handling of the elastomer rubber block, solving the problems of high labor intensity and low work efficiency of manual handling; reliable grasping and handling are realized by inserting at least two mechanical claws into the elastomer rubber block and opening them inside the rubber block, and it can be suitable for elastomer rubber blocks with uneven surfaces and large areas. Since the elastomer rubber block has viscoelasticity and is firmly coated on the mechanical claw, it is not easy for the rubber block to fall off during the handling process; a degumming mechanism is provided to assist the elastomer rubber block to quickly detach from the mechanical claw and the pin, ensuring that the rubber block stays at the target position after the handling is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A partial cross-sectional view of a front view of an embodiment of the present invention;

[0020] Figure 2 for Figure 1 A side view of an embodiment;

[0021] Figure 3 for Figure 1 An isometric view of an embodiment;

[0022] Figure 4 It is a structural schematic diagram of an implementation mode of the mechanical claw and the insertion pin in the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of the mechanical claw provided with a friction groove in the present invention;

[0024] Figure 6 It is a schematic diagram of part of the working process of the mechanical claw in the present invention.

[0025] Description of reference numerals:

[0026] 1-fixed seat plate; 11-first connecting block; 2-push plate;

[0027] 21-second connecting block; 22-second through hole; 23-connecting rod;

[0028] 31-first linear motion driving mechanism; 41-second linear motion driving mechanism;

[0029] 32-connecting sleeve; 42-degumming rod; 5-pin;

[0030] 51-needle body; 52-needle head; 6-mechanical claw;

[0031] 61-first connecting rod; 62-second connecting rod; 63-connecting sleeve;

[0032] 631-small diameter section; 632-large diameter section; 64-friction groove;

[0033] 71-a first distance measuring sensor; 72-a second distance measuring sensor; 73-an image sensor;

[0034] 10-mechanical arm; 101-flange; 20-elastic rubber block. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] See attached Figure 1 To Attachment Figure 3 , a handling device for an elastomeric rubber block, comprising: a fixed seat plate 1, which is connected to a mechanical arm 10 through a flange 101; at least two pins 5, symmetrically connected to the lower end of the fixed seat plate 1, the pin comprising a needle body 51 and a needle head 52; a mechanical claw 6, comprising a connecting sleeve 63 slidably sleeved on the needle body 51, a plurality of equal first connecting rods 61 and second connecting rods 62, the first connecting rod 61 being hinged to the lower end of the connecting sleeve 63, the second connecting rod 62 being hinged to the upper end of the needle head 52, and the first connecting rod 61 and the second connecting rod 62 being hinged to each other in a one-to-one correspondence; a mechanical claw driving mechanism, connecting the fixed seat plate 1 and the connecting sleeve 63, driving the connecting sleeve 63 to move along the pin 5, so that the first connecting rod 61 and the second connecting rod 62 are opened or closed; a degumming mechanism, assisting the mechanical claw 6 to complete the degumming by pushing the elastomeric rubber block. It should be noted that the number of the pins 5 can be selected according to the area and volume of the elastomeric rubber block, and the attached Figure 1 To Attachment Figure 3 The use of four square pins 5 at the four corners is just one of the options and settings.

[0040] Attached Figure 6The figure shows part of the working process of the present invention. When the above device is working, the mechanical claw 6 is first in the retracted state, and the mechanical arm 10 drives the pin 5 on the fixed base plate 1 to move downward and insert it into the elastic rubber block 20. The connecting sleeve 63 should also be partially inserted into the elastic rubber block 20, and then the mechanical arm 10 stops moving. Then the mechanical claw driving mechanism starts working, driving the connecting sleeve 63 to move downward so that the mechanical claw 6 opens to grab the elastic rubber block 20. After the mechanical claw 6 opens to a preset angle, the mechanical claw driving mechanism stops working, and then the mechanical arm 10 moves to carry the elastic rubber block 20 to the work station. The mechanical claw driving mechanism drives the connecting sleeve 63 to reset, and the mechanical claw 6 returns to the retracted state. The mechanical arm 10 drives the pin 5 to move upward, and at the same time controls the degumming mechanism to push the elastic rubber block downward. When the elastic rubber block 20 is completely separated from the pin 5, the degumming mechanism returns to its original position, thereby completing the transportation of the elastic rubber block 20. It can be seen from this that this technical solution can realize the mechanical handling of the elastomer rubber block, solving the problem of high labor intensity and low work efficiency of manual handling; and can realize reliable grasping and handling by inserting the mechanical claw 6 into the elastomer rubber block 20 and opening it inside the rubber block. Since the elastomer rubber block 20 has viscoelasticity and is firmly wrapped on the mechanical claw 6, the rubber block is not easy to fall off during the handling process; and by setting a degumming mechanism to assist the elastomer rubber block 20 to quickly detach from the mechanical claw 6 and the pin 5, it is ensured that the rubber block stays at the target position after the handling is completed.

[0041] The mechanical claw driving mechanism described above includes a push plate 2 arranged below the fixed seat plate 1 and a first linear motion driving mechanism 31 fixedly connected to the fixed seat plate 1 and connected to the push plate 2 at the output end. The fixed seat plate 1 and the push plate 2 are both flat plates and are arranged parallel to each other. A first through hole is provided on the push plate 2 for the insertion pin 5 to pass through. The connecting sleeve 63 is fixedly installed at the lower end of the push plate 2 corresponding to the first through hole. By installing all the connecting sleeves 63 on the push plate 2, the mechanical claw 6 is synchronously opened and closed. The degumming mechanism described above includes a second linear motion driving mechanism 41 arranged at the lower end of the fixed seat plate 1. A degumming rod 42 is connected to the output end of the second linear motion driving mechanism 41. A second through hole 22 surrounded by the first through hole is provided on the push plate 2. The degumming rod 42 passes through the second through hole 22.

[0042] The first linear motion drive mechanism 31 and the second linear motion drive mechanism 41 can be implemented in a variety of ways, including but not limited to a cylinder, a hydraulic cylinder, a motor-driven screw rod and a screw nut. Figure 1 To Attachment Figure 3Specifically, the first linear motion drive mechanism 31 and the second linear motion drive mechanism 41 are both cylinders and are mounted on the fixed seat plate 1 through flanges, wherein the first linear motion drive mechanism 31 includes two cylinders, and two connecting rods 23 are symmetrically arranged on the upper end surface of the push plate 2, and the guide rods of the two cylinders are correspondingly fixedly connected to the two connecting rods 23 through the connecting sleeve 32; the guide rod of the cylinder of the second linear motion drive mechanism 41 is fixedly connected to the debonding rod 42. This arrangement is simple in structure, and at the same time, the push plate 2 can stably drive all the connecting sleeves 63 to move downward or upward synchronously to complete the opening or closing of the mechanical claw 6.

[0043] For details, please refer to the attached Figure 4 The connecting sleeve 63 is divided into a small diameter section 631 and a large diameter section 632 by setting a step. The small diameter section 631 of the plug pin 5 and the connecting sleeve 63 are both provided with external threads. Figure 1 , a threaded through hole is provided on the fixed seat plate 1 to form a tight threaded connection with the external thread of the plug pin 5, and a bolt is tightened at the upper end protrusion after the plug pin 5 is threadedly connected to the threaded through hole, and an internal thread is provided on the first through hole to form a tight threaded connection with the external thread of the connecting sleeve 63, and the connecting sleeve 63 is threadedly connected to the first through hole. The connecting sleeve is set as a stepped sleeve so that the bottom surface of the push plate 2 contacts the top surface of the large diameter section 632, and a thrust is provided when the connecting sleeve 63 moves downward, which is more reliable than direct threaded connection without setting a step. Because the threaded connection is prone to fatigue damage when bearing load, in order to facilitate replacement, the threaded through hole can be set on the first connecting block 11, and the first through hole can be set on the second connecting block 21, and then the first connecting block 11 and the second connecting block 21 are respectively installed on the fixed seat plate 1 and the push plate 2 by screws. Therefore, after the thread is damaged, it is not necessary to replace the entire fixed seat plate 1 and the push plate 2, and only the damaged first connecting block 11 or the second connecting block 21 needs to be replaced, which increases the service life of the equipment and improves the economic benefits.

[0044] An implementation method of the pin 5 is shown in the attached Figure 4 The needle body 51 and the needle head 52 are connected by threads. The needle head 52 is conical and has a tip angle of less than or equal to 30°. The upper end of the needle head 52 has the largest diameter and is equal to the maximum outer diameter of the connecting sleeve 63. The second connecting rod 62 is hinged to the upper end of the needle head 52. Since the mechanical claw 6 may be deformed or broken after long-term work and needs to be replaced, it is only necessary to remove the needle head 52 without replacing the entire pin 5, which facilitates the replacement of the mechanical claw 6.

[0045] An implementation of the mechanical claw 6 is shown in FIG. Figure 4 and attached Figure 5, the inner and outer surfaces of the first connecting rod 61 and the second connecting rod 62 are both curved surfaces. When the mechanical claw 6 is folded, that is, when the first connecting rod 61 and the second connecting rod 62 are in line, the mechanical claw 6 is in the shape of a circular cylinder, and its inner surface is attached to the pin 5, and the outer surface diameter is equal to the outer diameter of the connecting sleeve 63. The consistent outer diameter makes the mechanical claw 6 encounter less resistance when inserting the elastic rubber block. When the mechanical claw 6 is opened, it is in the shape of a diamond, and is covered by the elastic rubber block by squeezing the elastic rubber block, thereby achieving reliable grasping. In order to increase the friction with the elastic rubber block and further prevent the elastic rubber block from slipping, a friction groove 64 with friction patterns can also be provided on the outer surface of the first connecting rod 61 and the second connecting rod 62.

[0046] In order to ensure that the mechanical claw 6 is not subjected to excessive or insufficient force when opened, and to avoid deformation while achieving a good grasping effect, the length ratio of the first connecting rod 61 and the second connecting rod 62 can be set between 1 and 1.5, and the opening angle of the mechanical claw 6, that is, the angle between the first connecting rod 61 and the second connecting rod 62, can be set between 100° and 130°.

[0047] See attached Figure 1A modified embodiment of the handling device for the elastic rubber block of the present invention further includes a sensor assembly, the sensor assembly includes a first distance sensor 71, a second distance sensor 72 and an image sensor 73, the first distance sensor 71 is installed on the upper surface of the push plate 2 to measure the moving distance of the push plate and thus control the opening angle of the mechanical claw 6, the second distance sensor 72 is installed on the lower surface of the push plate 2 to measure the distance between the lower surface of the push plate and the elastic rubber block, and the image sensor 71 is installed on the lower surface of the push plate 2 to monitor whether the pin 5 is inserted into the elastic rubber block. The mechanical arm 10, the mechanical claw driving mechanism, the degumming mechanism and the sensor assembly are electrically connected to a control circuit, and the control circuit controls the entire elastic rubber block handling device. The second distance measuring sensor 72 can detect the distance between the fixed seat plate 1 and the pin 5 and the upper surface of the elastic rubber block when the mechanical arm 10 drives the fixed seat plate 1 and the pin 5 to move downward, and then transmits a signal to the control circuit. When the control circuit determines that the distance reaches a preset value (at this time, the connecting sleeve 63 has been partially inserted into the elastic rubber block), the mechanical arm 10 is controlled to stop moving; the first distance measuring sensor 71 can detect the distance between the fixed seat plate 1 and the connecting sleeve 63 when the mechanical claw driving mechanism drives the connecting sleeve 63 to move downward, and then transmits a signal to the control circuit. After the control circuit determines that the opening angle of the mechanical claw 6 reaches a preset value, the mechanical claw driving mechanism is controlled to stop working; after the elastic rubber block is transported to the target workstation, the image sensor 73 monitors whether the elastic rubber block is completely separated from the mechanical claw 6 and the pin 5, and then transmits a signal to the control circuit. If it is not completely separated, the degumming mechanism is controlled to push the elastic rubber block downward. If it is completely separated, the degumming mechanism is controlled to return to its original position.

[0048] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A handling device for an elastomer block, characterized in that: include: A fixed seat plate for connecting the robotic arm; At least two pins are connected to the lower end of the fixed seat plate, and the pins include a pin body and a pin head; The mechanical claw comprises a connecting sleeve slidably mounted on the needle body, a plurality of first connecting rods and second connecting rods of equal number, wherein the first connecting rod is hinged to the lower end of the connecting sleeve, the second connecting rod is hinged to the upper end of the needle head, and the first connecting rod and the second connecting rod are hinged to each other in a one-to-one correspondence; A mechanical claw driving mechanism connects the fixed base plate and the connecting sleeve, drives the connecting sleeve to move along the needle body, and makes the first connecting rod and the second connecting rod open or close; A degumming mechanism, which assists the mechanical claw in completing degumming by pushing the elastic rubber block; The inner and outer surfaces of the first connecting rod and the second connecting rod are both curved surfaces. When the mechanical claw is folded, the first connecting rod and the second connecting rod are collinear, the mechanical claw is in a circular column shape, and the diameter of the mechanical claw is equal to the maximum outer diameter of the connecting sleeve; The length ratio of the first connecting rod to the second connecting rod is set between 1 and 1.

5.

2. The device for transporting elastomer blocks according to claim 1, characterized in that: The mechanical claw driving mechanism includes a first linear motion driving mechanism and a push plate. The first linear motion driving mechanism is connected to the fixed seat plate and drives the push plate to move relative to the fixed seat plate. A first through hole is provided on the push plate for the pin to pass through. The connecting sleeve is fixedly installed on the lower end of the push plate corresponding to the first through hole.

3. The transport device for elastomer rubber block according to claim 2, characterized in that: The degumming mechanism includes a second linear motion driving mechanism and a degumming rod. The second linear motion driving mechanism is connected to the fixed seat plate and drives the degumming rod to move relative to the fixed seat plate. A second through hole is provided on the push plate, and the degumming rod passes through the second through hole.

4. The transport device for elastomer rubber blocks according to claim 3, characterized in that: The first linear motion driving mechanism and the second linear motion driving mechanism are both cylinders, and are both mounted on the fixed base plate through flanges.

5. The device for transporting elastomer blocks according to claim 2, characterized in that: The connection mode between the insertion pin and the fixed seat plate is threaded connection, and the connection mode between the connecting sleeve and the push plate is also threaded connection.

6. The transport device for elastomer rubber blocks according to claim 5, characterized in that: A first connecting block with a threaded through hole is installed on the fixed seat plate by screws, the pin is threadedly connected to the threaded through hole, a second connecting block is provided on the push plate, the first through hole is provided on the second connecting block and has an internal thread, the connecting sleeve is divided into a small diameter section and a large diameter section by setting steps, the small diameter section is provided with an external thread for connecting the internal thread, and the large diameter section is a bare rod section.

7. The transport device for elastomer rubber blocks according to claim 2, characterized in that: It also includes a first ranging sensor, a second ranging sensor and an image sensor. The first ranging sensor is installed on the upper surface of the push plate to measure the moving distance of the push plate and thus control the opening angle of the mechanical claw. The second ranging sensor is installed on the lower surface of the push plate to measure the distance between the lower surface of the push plate and the elastic rubber block. The image sensor is installed on the lower surface of the push plate to monitor whether the pin is inserted into the elastic rubber block.

8. The device for transporting elastomer blocks according to claim 1, characterized in that: The needle body and the needle head are threadedly connected, the needle head is conical and has a maximum diameter equal to the maximum outer diameter of the connecting sleeve, and the tip angle of the needle head is less than or equal to 30°.

9. The device for transporting elastomer blocks according to claim 1, characterized in that: When grabbing the elastomer rubber block, the opening angle of the mechanical claw, that is, the angle between the first connecting rod and the second connecting rod, is set between 100° and 130°.

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