Rubber ring forming, feeding, discharging and stacking work station

Abstract

The invention provides a rubber ring forming feeding, discharging and stacking work station which comprises a carrying station. A protective cover is arranged on the periphery of the carrying station, a displacement table is installed on the carrying station and located in the protective cover, a base is movably installed on the displacement table, a mechanical arm is installed on the base, and a clamping jaw assembly used for clamping objects is installed at the outer end of the mechanical arm. A feeding vulcanizing ground rail and a discharging vulcanizing ground rail of the carrying station transfer the vulcanizing vehicle so as to realize material leading-in and leading-out of the vulcanizing machine, a displacement table of the carrying station controls the manipulator to move, and the manipulator controls and carries a rubber ring core rod, a vulcanizing frame and the vulcanizing vehicle through a clamping jaw assembly so as to realize automatic unloading and loading of the vulcanizing vehicle; the first feeding chain conveyor and the second feeding chain conveyor are used for switching, guiding and discharging rubber ring mandrels, and the first discharging chain conveyor and the second discharging chain conveyor are used for switching to transfer the rubber ring mandrels needing to be vulcanized to a carrying station, so that the orderly conveying of the rubber ring mandrels is realized.

Description

Technical Field

[0001] The invention relates to the technical field of rubber ring processing equipment, in particular to a rubber ring forming loading and unloading stacking workstation. Background Art

[0002] The rubber ring needs to be vulcanized during the molding process. The rubber ring is installed on the mandrel and placed on the vulcanizing rack through the mandrel. The vulcanizing rack is sent into the vulcanizer to vulcanize and mold the rubber ring.

[0003] Currently, the rubber rings are placed on the vulcanizing rack in sequence through human operation and pushed into the vulcanizer through the track. The existing vulcanizing rack is generally an integral structure, and the rubber ring mandrel is relatively cumbersome during the loading and unloading process, which is time-consuming and labor-intensive, affecting the processing efficiency. Summary of the invention

[0004] The technical problem solved by the present invention is to provide a palletizing workstation for automatically loading and unloading rubber ring mandrels, so as to solve the problems raised in the above-mentioned background technology.

[0005] The technical problem solved by the present invention is achieved by adopting the following technical solution: a rubber ring forming loading and unloading stacking workstation, comprising: A handling station; the handling station is surrounded by a protective cover, the handling station is located inside the protective cover and has a displacement platform installed therein, a base is movably installed on the displacement platform, a manipulator is installed on the base, and a gripper assembly for gripping objects is installed at the outer end of the manipulator; The ground rail part comprises a feeding vulcanization ground rail and a discharging vulcanization ground rail, the feeding vulcanization ground rail and the discharging vulcanization ground rail are arranged in parallel, the handling station is provided with a material taking station corresponding to the feeding vulcanization ground rail, and the handling station is provided with a material unloading station corresponding to the discharging vulcanization ground rail; a vulcanization vehicle is movably installed on the feeding vulcanization ground rail and the discharging vulcanization ground rail, and a vulcanization rack is stackably installed on the vulcanization vehicle for loading rubber ring mandrels; Placing the floor rails; the placing floor rails are arranged between the material taking station and the material unloading station, and the placing floor rails include a first fixed floor rail for placing the vulcanizing rack, and a second fixed floor rail and a third fixed floor rail for placing the fixed vulcanizing vehicle, and the vulcanizing vehicle fixed on the second fixed floor rail and the third fixed floor rail can also be used to place the vulcanizing rack; Conveying mechanism; the conveying mechanism comprises a first feeding chain conveyor and a second feeding chain conveyor arranged on the opposite side of the material taking station, and a first discharging chain conveyor and a second discharging chain conveyor installed on the opposite side of the material discharging station.

[0006] As a further embodiment of the present invention: The vulcanizing vehicle comprises a vehicle frame and a guide wheel mounted at the lower end of the vehicle frame, and is slidably mounted on the ground rail member through the guide wheel. The vulcanizing frame comprises a first vulcanizing frame mounted on the vulcanizing vehicle and a second vulcanizing frame stacked on the upper end of the first vulcanizing frame. The second vulcanizing frame can be stacked in sequence. The first vulcanizing frame is symmetrically mounted with first placement grooves for holding the mandrel on both sides. First positioning blocks are also distributed at corresponding positions on both sides of the first vulcanizing frame, and a V-shaped groove is opened at the upper end of the first positioning block. The two sides of the vehicle frame are respectively provided with card slots corresponding to the first positioning blocks. The first vulcanizing frame is fixedly clamped in the card slot of the vehicle frame through the first positioning blocks, and is grabbed and moved together with the vulcanizing vehicle. The second vulcanization frame is symmetrically provided with second placement grooves for holding the mandrel, and second positioning blocks are distributed and installed at corresponding positions on both sides of the second vulcanization frame, the first positioning block and the second positioning block are arranged in coordination, a V-shaped block is protrudingly installed at the lower end of the second positioning block, a V-shaped groove is opened at the upper end of the second positioning block, and the second positioning blocks are inserted into the V-shaped groove through adjacent V-shaped blocks for stacking; Positioning blocks are also installed at corresponding positions of the first vulcanizing frame and the second vulcanizing frame.

[0007] As a further embodiment of the present invention: Support blocks may also be installed on both sides of the second vulcanizing rack. The support blocks are symmetrically installed at the lower end of the second vulcanizing rack so as to be supported on the vulcanizing rack of the next layer through the support blocks, thereby improving the stability of stacking.

[0008] As a further embodiment of the present invention: The clamping jaw assembly includes a clamping frame and a top seat fixedly installed on the top of the clamping frame. A connecting flange is fixedly provided at the outer end of the top seat to be fixedly connected to the manipulator through the connecting flange. Several groups of clamping parts are symmetrically installed at the lower end of the clamping frame. Positioning laser sensors are also installed in the middle of both sides of the clamping frame to cooperate with the positioning blocks to position the vulcanizing frame.

[0009] As a further embodiment of the present invention: The clamping member includes a guide plate slidably mounted on the clamping frame and a clamping cylinder driving the guide plate to move. The clamping frame is provided with a guide rail corresponding to the guide plate. The guide plate is slidably mounted on the guide rail through a guide block. The clamping cylinder is fixedly mounted at a corresponding position of the clamping frame. A push plate is fixedly connected to the outer end of the output rod of the clamping cylinder, and the push plate is fixedly connected to the guide plate through the push plate, so as to push the guide plate to telescopically slide on the guide rail. A plurality of groups of clamping plates can be distributed on the guide plate. The clamping plates on both sides of the clamping frame are symmetrically arranged at intervals to correspond to the core rod placed on the vulcanizing frame. The clamping cylinder controls the corresponding clamping plates on both sides to move synchronously to clamp and fix the object. A clamping block is fixedly provided at the lower end of the clamping plate to hold the article through the clamping block. A clamping groove with a V-shaped structure is also provided on the clamping block to clamp and hold the core rod to prevent the core rod from falling off.

[0010] As a further embodiment of the present invention: Lifting members are also installed on the guide plates on both sides of the middle part of the clamping frame. The lifting members include a lifting frame installed on the guide plate and a lifting cylinder fixedly installed on the upper end of the lifting frame. The outer end of the output rod of the lifting cylinder is fixedly connected to the lifting plate to drive the lifting plate to move up and down. A limiting groove is provided at the outer end of the guide plate corresponding to the lifting plate so that the lifting plate can move up and down in the limiting groove. A lifting block is integrally provided at the lower end of the lifting plate to lift the objects. The lifting plate is arranged between adjacent clamping plates on the guide plate.

[0011] As a further embodiment of the present invention: The first fixed ground rail includes a first fixed frame and fixed blocks installed at corresponding positions on the first fixed frame, and the fixed blocks are provided with V-shaped grooves that cooperate with the V-shaped blocks, so that the vulcanizing frame can be stacked on the fixed blocks of the first fixed ground rail through the V-shaped blocks; The second fixed ground rail and the third fixed ground rail are respectively provided with a guide slide for placing the vulcanizing vehicle, a baffle is installed on one side of the guide slide, and the guide slide is provided with an inclined slide in cooperation with the baffle, so that the guide wheel is clamped on one side of the slide and the baffle for preliminary positioning; The second fixed ground rail, the third fixed ground rail and the unloading station are respectively provided with positioning components for fixing the vulcanizing vehicle, the positioning components include a positioning frame and a positioning cylinder installed on one side of the positioning frame, and a positioning plate arranged at the outer end of the output rod of the positioning cylinder. Positioning guide rods are fixedly installed on both sides of the positioning plate, and guide sleeves are provided on the positioning frame corresponding to the positioning guide rods. The positioning guide rods are inserted into the guide sleeves for sliding connection to improve the stability of the movement of the positioning plate. The positioning plate is clamped between two groups of guide wheels on one side of the vulcanizing vehicle to position the vulcanizing vehicle.

[0012] As a further embodiment of the present invention: The unloading station is also provided with an ejection member for ejecting the vulcanizing cart, and the ejection member includes an ejection cylinder and a support plate arranged at the outer end of the output rod of the pusher cylinder, so as to push the vulcanizing cart out of the unloading station through the support plate, and move it on the unloading vulcanizing rail to be introduced into the vulcanizing machine.

[0013] As a further embodiment of the present invention: The displacement platform is provided with a strip-shaped displacement groove, and displacement slide rails are installed on both sides of the displacement groove. The lower end of the base is slidably connected to the displacement slide rail through a slider, and a rack plate is installed at the lower end of the displacement slide rail on one side of the displacement platform. A displacement motor is installed on the base, and a displacement gear connected to the displacement motor is provided at a corresponding position at the lower end of the base. The displacement gear is meshed with the rack plate to push the base to move back and forth on the displacement platform, thereby adjusting the position of the manipulator.

[0014] As a further embodiment of the present invention: The process flow of rubber ring forming loading and unloading and stacking includes a unloading process step after vulcanization is completed and a loading process step for loading the rubber ring mandrel into the vulcanizer, wherein the unloading process step and the loading process step are arranged in coordination; The unloading process steps include: Step 1: The vulcanization vehicle after vulcanization is pushed to the material picking station of the handling station through the feeding vulcanization track. After being detected by the sensor, the robot moves to the side of the material picking station and starts to grab and move; Step 2: The robot uses the positioning laser sensor on the gripper assembly to illuminate the two right-angled surfaces of the positioning block on the vulcanizing car for positioning. The robot sequentially grabs the rubber ring mandrel on the vulcanizing car to the first feeding chain conveyor, sequentially grabs the second vulcanizing frame for placing the rubber ring mandrel to the first fixed ground rail, and finally grabs the vulcanizing car and the first vulcanizing frame together to the second fixed ground rail; Step 3: The second vulcanization car that has been vulcanized is pushed to the material-retrieving station of the handling station through the feeding vulcanization rail. The manipulator uses the positioning laser sensor on the gripper assembly to illuminate the two right-angled surfaces of the positioning block on the vulcanization car for positioning. The manipulator grabs the rubber ring mandrel on the vulcanization car to the second feeding chain conveyor in turn, grabs the second vulcanization rack for placing the rubber ring mandrel to the vulcanization car on the second fixed rail in turn for stacking, and grabs the second vulcanization car together with the first vulcanization rack on it to the third fixed rail, and the operation is cyclically carried out in sequence; The loading process steps include: Step 1: When sensing that the first discharge chain conveyor is full of formed rubber ring mandrels, the robot moves to the side of the discharge station and starts grabbing and stacking; grabs the vulcanizing cart on the third fixed rail to the discharge station. If there is no vulcanizing cart on the third fixed rail, grabs the vulcanizing cart on the second fixed rail; the positioning cylinder moves to fix the vulcanizing cart; Step 2: After the manipulator grabs the rubber ring mandrel on the first discharging chain conveyor through the gripper assembly, it uses the positioning laser sensor to illuminate the two right-angled surfaces of the positioning block on the vulcanizing car for positioning, and then places the rubber ring mandrel on the first vulcanizing frame on the vulcanizing car; Step 3: The robot illuminates the second vulcanizing rack on the second fixed rail through the positioning laser sensor and moves it to the unloading station; if there is no second vulcanizing rack on the second fixed rail, grab the second vulcanizing rack on the first fixed rail; grab the rubber ring mandrel and the second vulcanizing rack in turn to complete the stacking work; Step 4: The positioning cylinder controls the positioning plate to move out, and the push-out cylinder moves the vulcanizing car out of the unloading station through the push plate, and transfers it to the vulcanizing machine through the unloading vulcanizing rail; the handling station grabs and stacks materials in an orderly manner, and the work cycle is like this.

[0015] Compared with the prior art, the present invention has the following beneficial effects: the feeding vulcanizing floor rail and the discharging vulcanizing floor rail of the transport station transfer the vulcanizing vehicle to realize the material import and export of the vulcanizer; the displacement platform of the transport station controls the movement of the manipulator, and the manipulator controls the handling of the rubber ring mandrel, the vulcanizing frame and the vulcanizing vehicle through the clamping claw assembly to realize the automatic unloading and loading of the vulcanizing vehicle; the first feeding chain conveyor and the second feeding chain conveyor are used for switching the guiding and discharging of the rubber ring mandrel, and the first discharging chain conveyor and the second discharging chain conveyor are used for switching the transferring of the rubber ring mandrel to be vulcanized to the transport station, so as to realize the orderly transportation of the rubber ring mandrel.

[0016] The first vulcanizing frame is fixedly installed on the vulcanizing vehicle, and the second vulcanizing frame is fixed by inserting the V-shaped block at the lower end of the second positioning block into the V-shaped groove of the first positioning block. Then, the second vulcanizing frame is stacked by the second positioning blocks to ensure the stable stacking of the vulcanizing frames, and the inner side end of the second positioning block is abutted on the frame rod of the vulcanizing frame, and the second positioning blocks on both sides of the second vulcanizing frame are respectively abutted on the outer side of the frame rod and inserted into the corresponding V-shaped grooves, so as to limit the second vulcanizing frame and improve its stability.

[0017] The vulcanizing frame is provided with a positioning block, and the positioning laser sensor on the clamping jaw assembly illuminates the corresponding positioning block for positioning, thereby achieving accurate grasping of the rubber ring mandrel, vulcanizing frame and vulcanizing car.

[0018] A plurality of groups of clamping plates are symmetrically installed on both sides of the clamping frame, and a clamping block is provided at the lower end of the clamping plate to lift the vulcanizing frame and the vulcanizing car through the closed clamping block. The clamping block is provided with a clamping groove corresponding to the rubber ring mandrel, and the rubber ring mandrel is inserted in the clamping groove, thereby improving the stability of the clamping and movement of the rubber ring mandrel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the top view of the structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 3 It is a side view structural schematic diagram of the present invention; Figure 4 It is a schematic diagram of the structure of the displacement platform of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the vulcanizing vehicle of the present invention; Figure 6 It is a front view structural schematic diagram of the vulcanizing vehicle of the present invention; Figure 7 The three-dimensional structure of the clamping jaw assembly of the present invention is shown in FIG. Figure 1 ; Figure 8 The three-dimensional structure of the clamping jaw assembly of the present invention is shown in FIG. Figure 2 ; Fig. 9 for Figure 2The enlarged structural diagram at A in the middle; Fig.10 It is a schematic diagram of the structure of the positioning component of the present invention; Markings in the figure: 1. Handling station; 2. Displacement platform; 3. Gripping jaw assembly; 4. Vulcanizing car; 5. Floor rail placement; 6. Lifting frame; 7. Positioning cylinder; 8. Cart cylinder; 11. Protective cover; 12. Feed vulcanized floor rail; 13. Discharge vulcanized floor rail; 14. Retrieving station; 15. Discharging station; 16. First feed chain conveyor; 17. Second feed chain conveyor; 18. First discharge chain conveyor; 19. Second discharge chain conveyor; 21. Base; 22. Manipulator; 23. Displacement slot; 24. Displacement slide rail; 25. Rack plate; 26. Displacement motor; 31. Clamping frame; 32. Top seat; 33. Positioning laser sensor; 34. Guide plate; 35. Clamping cylinder; 36. Push plate; 37. Clamping plate; 38. Clamping block; 39. Clamping groove; 41. Rubber ring mandrel; 42. Guide wheel; 43. First vulcanizing frame; 44. Second vulcanizing frame; 45. First positioning block; 46. Second positioning block; 47. V-shaped block; 48. Support block; 49. Positioning block; 51. first fixed ground rail; 52. second fixed ground rail; 53. third fixed ground rail; 54. fixed block; 55. guide slide; 56. baffle; 57. slide plate; 61. lifting plate; 62. lifting cylinder; 71. positioning frame; 72. positioning plate; 73. positioning guide rod; 81. Support board. DETAILED DESCRIPTION

[0020] In order to make the technical means for realizing the present invention, the creative features, the objectives and effects to be achieved easily understood, the present invention is further described below with reference to specific diagrams.

[0021] like Figures 1 to 10 As shown, This embodiment provides a rubber ring forming loading and unloading and stacking workstation, including: A handling station 1; the handling station 1 is provided with a protective cover 11 around it, and a displacement platform 2 is installed in the handling station 1 inside the protective cover 11, a base 21 is movably installed on the displacement platform 2, a manipulator 22 is installed on the base 21, and a gripper assembly 3 for gripping an object is installed at the outer end of the manipulator 22; The ground rail part comprises a feeding vulcanization ground rail 12 and a discharging vulcanization ground rail 13, which are arranged in parallel. The handling station 1 is provided with a material taking station 14 corresponding to the feeding vulcanization ground rail 12, and the handling station 1 is provided with a material discharging station 15 corresponding to the discharging vulcanization ground rail 13; a vulcanization vehicle 4 is movably installed on the feeding vulcanization ground rail 12 and the discharging vulcanization ground rail 13, and a vulcanization rack is stackably installed on the vulcanization vehicle 4 for loading the rubber ring mandrel 41; The placing rail 5 is arranged between the material taking station 14 and the material discharging station 15, and the placing rail 5 includes a first fixed rail 51 for placing the vulcanizing rack, and a second fixed rail 52 and a third fixed rail 53 for placing the fixed vulcanizing vehicle 4. The vulcanizing vehicle 4 fixed on the second fixed rail 52 and the third fixed rail 53 can also be used to place the vulcanizing rack; The conveyor comprises a first feed chain conveyor 16 and a second feed chain conveyor 17 arranged on the opposite side of the material taking station 14, and a first discharge chain conveyor 18 and a second discharge chain conveyor 19 installed on the opposite side of the material discharging station 15.

[0022] Specifically, the manipulator 22 is installed on the translation stage 2 via the base 21 so as to be moved forward and backward via the translation stage 2 , thereby adjusting the position of the manipulator 22 .

[0023] The feeding vulcanizing rail 12 is used for the vulcanizer to guide the vulcanized materials out and move them to the material taking station 14. The manipulator 22 grabs the rubber ring mandrel 41 on the upper end of the vulcanizing car 4 and transfers it to the first feeding chain conveyor 16 or the second feeding chain conveyor 17. Then the vulcanizing rack used to fix the rubber ring mandrel 41 is taken out and transferred to the placing rail 5. The cycle is repeated in sequence until the last group of vulcanizing racks on the upper end of the vulcanizing car 4 is reached. The group of vulcanizing racks together with the vulcanizing car 4 are grabbed and transferred to the second fixed rail 52 or the third fixed rail 53.

[0024] Among them, the first feeding chain conveyor 16 and the second feeding chain conveyor 17 are used for switching. After the rubber ring mandrel 41 on the first car is guided to the corresponding position by the first feeding chain conveyor 16, the rubber ring mandrel 41 on the second car is guided to the corresponding position by the second feeding chain conveyor 17.

[0025] Among them, when the first fixed ground rail 51 is in an empty state, the vulcanizing rack on the upper end of the first vehicle is stacked and placed on the first fixed ground rail 51, and the vulcanizing vehicle 4 of the first vehicle is placed on the second fixed ground rail 52. Secondly, the vulcanizing rack of the second vehicle is placed on the vulcanizing vehicle 4 of the second fixed ground rail 52 and stacked, and the vulcanizing vehicle 4 of the second vehicle is placed on the third fixed ground rail 53. They are distributed in sequence for easy subsequent use.

[0026] When the unloading station 15 needs the vulcanizing cart 4, if the vulcanizing cart 4 on the second fixed ground rail 52 has not been stacked with the vulcanizing racks of other carts, the vulcanizing cart 4 on the second fixed ground rail 52 is taken to the unloading station 15, otherwise the vulcanizing cart 4 on the third fixed ground rail 53 is taken to the unloading station 15; after taking the vulcanizing cart 4 on the third fixed ground rail 53, the rubber ring mandrel 41 is placed on the vulcanizing cart 4, and the subsequent vulcanizing racks take the vulcanizing racks on the second fixed ground rail 52, until the last group of vulcanizing racks is reserved on the vulcanizing cart 4 on the second fixed ground rail 52, so as to be used in the next unloading station 15, and the operation is carried out in sequence.

[0027] The first discharging chain conveyor 18 and the second discharging chain conveyor 19 are used to switch and transfer the rubber ring mandrel 41 to be vulcanized to the transfer station 1, and transport them to the discharge station 15 for stacking through the robot 22.

[0028] like Figure 5 and Figure 6 As shown, in this embodiment, the vulcanizing vehicle 4 includes a vehicle frame and a guide wheel 42 installed at the lower end of the vehicle frame, and is slidably installed on the ground rail member through the guide wheel 42. The vulcanizing frame includes a first vulcanizing frame 43 installed on the vulcanizing vehicle 4 and a second vulcanizing frame 44 stacked on the upper end of the first vulcanizing frame 43. The second vulcanizing frame 44 can be stacked in sequence. The first vulcanizing frame 43 is symmetrically installed with first placement grooves for holding the mandrel on both sides. First positioning blocks 45 are also distributed at corresponding positions on both sides of the first vulcanizing frame 43. The upper end of the first positioning block 45 is provided with a V-shaped groove; the two sides of the frame are respectively provided with a card slot corresponding to the first positioning block 45, and the first vulcanizing frame 43 is fixedly carded in the card slot of the vehicle frame through the first positioning block 45, and is grabbed and moved together with the vulcanizing vehicle 4; The second vulcanizing frame 44 is symmetrically provided with second placement grooves for holding the mandrel on both sides, and second positioning blocks 46 are distributed and installed at corresponding positions on both sides of the second vulcanizing frame 44. The first positioning block 45 and the second positioning block 46 are arranged in cooperation, and a V-shaped block 47 is protrudingly installed at the lower end of the second positioning block 46. A V-shaped groove is provided at the upper end of the second positioning block 46, and the second positioning blocks 46 are inserted into the V-shaped groove through adjacent V-shaped blocks 47 for stacking. Specifically, the second vulcanizing frame 44 is fixed by inserting the V-shaped block 47 at the lower end of the second positioning block 46 into the V-shaped groove of the first positioning block 45, and then the second vulcanizing frame 44 is stacked through the second positioning blocks 46.

[0029] Support blocks 48 may be installed on both sides of the second vulcanizing rack 44. The support blocks 48 are symmetrically installed at the lower end of the second vulcanizing rack 44 so as to abut against the vulcanizing rack of the next layer through the support blocks 48, thereby improving the stability of stacking.

[0030] Positioning blocks 49 are also installed at corresponding positions of the first vulcanizing frame 43 and the second vulcanizing frame 44 .

[0031] like Figure 7 and Figure 8 As shown, in this embodiment, the clamping jaw assembly 3 includes a clamping frame 31 and a top seat 32 fixedly installed on the top of the clamping frame 31, a connecting flange is fixedly provided at the outer end of the top seat 32 to be fixedly connected to the manipulator 22 through the connecting flange, and a plurality of groups of clamping parts are symmetrically installed at the lower end of the clamping frame 31. Positioning laser sensors 33 are also installed in the middle of both sides of the clamping frame 31 to cooperate with the positioning block 49 to position the vulcanizing frame.

[0032] The clamping member includes a guide plate 34 slidably mounted on the clamping frame 31 and a clamping cylinder 35 for driving the guide plate 34 to move. The clamping frame 31 is provided with a guide rail corresponding to the guide plate 34. The guide plate 34 is slidably mounted on the guide rail through a guide block. The clamping cylinder 35 is fixedly mounted at a corresponding position of the clamping frame 31. The outer end of the output rod of the clamping cylinder 35 is fixedly connected to a push plate 36, and is fixedly connected to the guide plate 34 through the push plate 36, thereby pushing the guide plate 34 to slide telescopically on the guide rail. A plurality of groups of clamping plates 37 may be distributed on the guide plate 34. The clamping plates 37 on both sides of the clamping frame 31 are symmetrically arranged at intervals to correspond to the core rod placed on the vulcanizing frame. The clamping cylinder 35 controls the corresponding clamping plates 37 on both sides to move synchronously to clamp and fix the object.

[0033] A clamping block 38 is fixedly provided at the lower end of the clamping plate 37 to hold the article through the clamping block 38. The clamping block 38 is also provided with a clamping groove 39 with a V-shaped structure to clamp and hold the core rod to prevent the core rod from falling off.

[0034] Lifting members are also installed on the guide plates 34 on both sides of the middle of the clamping frame 31. The lifting members include a lifting frame 6 installed on the guide plate 34 and a lifting cylinder 62 fixedly installed on the upper end of the lifting frame 6. The outer end of the output rod of the lifting cylinder 62 is fixedly connected to the lifting plate 61 to drive the lifting plate 61 to move up and down. A limiting groove is provided at the outer end of the guide plate 34 corresponding to the lifting plate 61 so that the lifting plate 61 can move up and down in the limiting groove. A lifting block is integrally provided at the lower end of the lifting plate 61 to lift objects. The lifting plate 61 is arranged between adjacent clamping plates 37 arranged on the guide plate 34.

[0035] Specifically, the rubber ring is installed on the mandrel, and both sides of the mandrel extend out of the vulcanization frame. The positioning laser sensor 33 detects the positioning block 49 on the vulcanization frame to accurately position the vulcanization frame. The clamping plate 37 is clamped on both sides of the mandrel, and the clamping cylinder 35 is closed to clamp the mandrel. The mandrel is clamped in the clamping groove 39 of the clamping block 38 to prevent the mandrel from falling and improve the stability of the mandrel clamping.

[0036] When grabbing the vulcanizing frame or vulcanizing vehicle 4, the positioning laser sensor 33 detects the positioning block 49 on the vulcanizing frame to accurately position the vulcanizing frame, the clamping cylinder 35 controls the guide plates 34 on both sides to open, the manipulator 22 controls the clamping claw frame to descend to the appropriate position, and the clamping cylinder 35 closes to clamp and fix the object through the clamping plate 37.

[0037] The lifting member is actuated by the lifting cylinder 62, and the lifting cylinder 62 controls the lifting plate 61 to drive the object to move upward, thereby improving the stability of the object clamping.

[0038] like Figure 1 , Figure 2 , Figure 3 , Fig. 9 and Fig.10 As shown, in this embodiment, the first fixed ground rail 51 includes a first fixed frame and fixed blocks 54 distributed and installed at corresponding positions on the first fixed frame, and the fixed blocks 54 are provided with V-shaped grooves that are matched with the V-shaped blocks 47 so that the vulcanization frame can be stacked on the fixed blocks 54 of the first fixed ground rail 51 through the V-shaped blocks 47.

[0039] The second fixed ground rail 52 and the third fixed ground rail 53 are respectively provided with a guide slide 55 for placing the vulcanizer 4, and a baffle 56 is installed on one side of the guide slide 55. The guide slide 55 is provided with an inclined slide plate 57 in conjunction with the baffle plate 56, so that the guide wheel 42 is clamped on one side of the slide plate 57 and the baffle plate 56 for preliminary positioning.

[0040] The second fixed ground rail 52, the third fixed ground rail 53 and the unloading station 15 are respectively provided with positioning components for fixing the vulcanizing vehicle 4, the positioning components include a positioning frame 71 and a positioning cylinder 7 installed on one side of the positioning frame 71, and a positioning plate 72 arranged at the outer end of the output rod of the positioning cylinder 7, positioning guide rods 73 are fixedly installed on both sides of the positioning plate 72, and a guide sleeve is provided on the positioning frame 71 corresponding to the positioning guide rod 73, and the positioning guide rod 73 is inserted into the guide sleeve for sliding connection to improve the stability of the movement of the positioning plate 72, and the positioning plate 72 is clamped between the two groups of guide wheels 42 on one side of the vulcanizing vehicle 4 to position the vulcanizing vehicle 4.

[0041] like Figure 1 and Figure 2 As shown, in this embodiment, the unloading station 15 is also provided with an ejection member for ejecting the vulcanizing cart 4, and the ejection member includes an ejection cylinder and a support plate 81 arranged at the outer end of the output rod of the pusher cylinder 8, so as to push the vulcanizing cart 4 out of the unloading station 15 through the support plate 81, and move it on the unloading vulcanizing rail 13 to be introduced into the vulcanizing machine.

[0042] like Figure 4As shown, in this embodiment, the displacement platform 2 is provided with a strip-shaped displacement groove 23, and the displacement platform 2 is provided with displacement slide rails 24 on both sides of the displacement groove 23. The lower end of the base 21 is slidably connected to the displacement slide rail 24 through a slider, and a rack plate 25 is installed at the lower end of the displacement slide rail 24 on one side of the displacement platform 2, and a displacement motor 26 is installed on the base 21. A displacement gear connected to the displacement motor 26 is provided at a corresponding position at the lower end of the base 21, and the displacement gear is meshed with the rack plate 25 to push the base 21 to move back and forth on the displacement platform 2, thereby adjusting the position of the manipulator 22.

[0043] In this embodiment, the rubber ring forming loading and unloading stacking process includes a unloading process step after vulcanization is completed and a loading process step for loading the rubber ring mandrel 41 into the vulcanizer, and the unloading process step and the loading process step are arranged in coordination; The unloading process steps include: Step 1: The vulcanization vehicle 4 after vulcanization is pushed to the material taking station 14 of the handling station 1 through the feeding vulcanization ground rail 12. After being detected by the sensor, the robot moves to the side of the material taking station 14 and starts to grab and move; Step 2: The manipulator 22 uses the positioning laser sensor 33 on the gripper assembly 3 to illuminate the two right-angled surfaces of the positioning block 49 on the vulcanizing vehicle 4 for positioning. The manipulator 22 sequentially grabs the rubber ring mandrel 41 on the vulcanizing vehicle 4 onto the first feeding chain conveyor 16, and sequentially grabs the second vulcanizing frame 44 for placing the rubber ring mandrel 41 onto the first fixed ground rail 51, and finally grabs the vulcanizing vehicle 4 and the first vulcanizing frame 43 together onto the second fixed ground rail 52; Step 3: The second vulcanization vehicle 4 that has been vulcanized is pushed to the material-retrieving station 14 of the handling station 1 through the feeding vulcanization rail 12. The manipulator 22 uses the positioning laser sensor 33 on the gripper assembly 3 to illuminate the two right-angled surfaces of the positioning block 49 on the vulcanization vehicle 4 for positioning. The manipulator 22 sequentially grabs the rubber ring mandrel 41 on the vulcanization vehicle 4 onto the second feeding chain conveyor 17, and sequentially grabs the second vulcanization frame 44 for placing the rubber ring mandrel 41 onto the vulcanization vehicle 4 on the second fixed rail 52 for stacking. The second vulcanization vehicle 4 together with the first vulcanization frame 43 above is grabbed onto the third fixed rail 53, and the operation is cyclically performed in sequence; The loading process steps include: Step 1: When sensing that the first discharging chain conveyor 18 is fully loaded with the formed rubber ring mandrels 41, the robot moves to the side of the unloading station 15 and starts grabbing and stacking; grabs the vulcanizing cart 4 on the third fixed ground rail 53 to the unloading station 15, and if there is no vulcanizing cart 4 on the third fixed ground rail 53, grabs the vulcanizing cart 4 on the second fixed ground rail 52; the positioning cylinder 7 is actuated to fix the vulcanizing cart 4; Step 2: After the manipulator 22 grabs the rubber ring mandrel 41 on the first discharging chain conveyor 18 through the gripper assembly 3, the positioning laser sensor 33 is used to illuminate the two right-angled surfaces of the positioning block 49 on the vulcanizing vehicle 4 for positioning, and then the rubber ring mandrel 41 is placed on the first vulcanizing frame 43 on the vulcanizing vehicle 4; Step 3: The robot 22 illuminates the second vulcanizing rack 44 on the second fixed rail 52 through the positioning laser sensor 33, and moves it to the unloading station 15; if there is no second vulcanizing rack 44 on the second fixed rail 52, the robot 22 grabs the second vulcanizing rack 44 on the first fixed rail 51; grabs the rubber ring mandrel 41 and the second vulcanizing rack 44 in turn to complete the stacking work; Step 4: The positioning cylinder 7 controls the positioning plate 72 to move out, and the push cylinder moves the vulcanizing vehicle 4 out of the discharge station 15 through the push plate 8136, and transfers it to the vulcanizer through the discharge vulcanizing rail 13; the handling station 1 grabs and stacks the materials in an orderly manner, and the work cycle is like this.

[0044] The above shows and describes the basic principle and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents. It should be noted that, in this article, if there are relational terms such as first and second, it is only used to distinguish one entity or operation from another entity or operation, and does not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "includes", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. Rubber ring forming loading and unloading stacking workstation, characterized by: include: Portage station; The handling station is surrounded by a protective cover, and a displacement platform is installed in the handling station inside the protective cover, a base is movably installed on the displacement platform, a manipulator is installed on the base, and a clamping claw assembly for clamping objects is installed at the outer end of the manipulator; The ground rail part comprises a feeding vulcanization ground rail and a discharging vulcanization ground rail, the feeding vulcanization ground rail and the discharging vulcanization ground rail are arranged in parallel, the handling station is provided with a material taking station corresponding to the feeding vulcanization ground rail, and the handling station is provided with a material unloading station corresponding to the discharging vulcanization ground rail; a vulcanization vehicle is movably installed on the feeding vulcanization ground rail and the discharging vulcanization ground rail, and a vulcanization rack is stackably installed on the vulcanization vehicle for loading rubber ring mandrels; Placing the floor rails; the placing floor rails are arranged between the material taking station and the material unloading station, and the placing floor rails include a first fixed floor rail for placing the vulcanizing rack, and a second fixed floor rail and a third fixed floor rail for placing the fixed vulcanizing vehicle, and the vulcanizing vehicle fixed on the second fixed floor rail and the third fixed floor rail can also be used to place the vulcanizing rack; Conveying mechanism; the conveying mechanism comprises a first feeding chain conveyor and a second feeding chain conveyor arranged on the opposite side of the material taking station, and a first discharging chain conveyor and a second discharging chain conveyor installed on the opposite side of the material discharging station.

2. The rubber ring forming loading and unloading stacking workstation according to claim 1 is characterized by: The vulcanizing vehicle comprises a vehicle frame and a guide wheel mounted at the lower end of the vehicle frame, and is slidably mounted on the ground rail member through the guide wheel. The vulcanizing frame comprises a first vulcanizing frame mounted on the vulcanizing vehicle and a second vulcanizing frame stacked on the upper end of the first vulcanizing frame. The second vulcanizing frame can be stacked in sequence. The first vulcanizing frame is symmetrically mounted with first placement grooves for holding the mandrel on both sides. First positioning blocks are also distributed at corresponding positions on both sides of the first vulcanizing frame, and a V-shaped groove is opened at the upper end of the first positioning block. The two sides of the vehicle frame are respectively provided with card slots corresponding to the first positioning blocks. The first vulcanizing frame is fixedly clamped in the card slot of the vehicle frame through the first positioning blocks, and is grabbed and moved together with the vulcanizing vehicle. The second vulcanization frame is symmetrically provided with second placement grooves for holding the mandrel, and second positioning blocks are distributed and installed at corresponding positions on both sides of the second vulcanization frame, the first positioning block and the second positioning block are arranged in coordination, a V-shaped block is protrudingly installed at the lower end of the second positioning block, a V-shaped groove is opened at the upper end of the second positioning block, and the second positioning blocks are inserted into the V-shaped groove through adjacent V-shaped blocks for stacking; Positioning blocks are also installed at corresponding positions of the first vulcanizing frame and the second vulcanizing frame.

3. The rubber ring forming loading and unloading stacking workstation according to claim 2 is characterized by: Support blocks may also be installed on both sides of the second vulcanizing frame. The support blocks are symmetrically installed at the lower end of the second vulcanizing frame so as to be supported on the vulcanizing frame of the next layer through the support blocks.

4. The rubber ring forming loading and unloading stacking workstation according to claim 2 is characterized by: The clamping jaw assembly includes a clamping frame and a top seat fixedly installed on the top of the clamping frame. A connecting flange is fixedly provided at the outer end of the top seat to be fixedly connected to the manipulator through the connecting flange. Several groups of clamping parts are symmetrically installed at the lower end of the clamping frame. Positioning laser sensors are also installed in the middle of both sides of the clamping frame to cooperate with the positioning block.

5. The rubber ring forming loading and unloading and stacking workstation according to claim 4 is characterized in that: The clamping member includes a guide plate slidably mounted on the clamping frame and a clamping cylinder driving the guide plate to move. The clamping frame is provided with a guide rail corresponding to the guide plate. The guide plate is slidably mounted on the guide rail through a guide block. The clamping cylinder is fixedly mounted at a corresponding position of the clamping frame. A push plate is fixedly connected to the outer end of the output rod of the clamping cylinder, and the push plate is fixedly connected to the guide plate through the push plate, so as to push the guide plate to telescopically slide on the guide rail. A plurality of groups of clamping plates can be distributed on the guide plate. The clamping plates on both sides of the clamping frame are symmetrically arranged at intervals to correspond to the core rod placed on the vulcanizing frame. The clamping cylinder controls the corresponding clamping plates on both sides to move synchronously to clamp and fix the object. A clamping block is fixedly provided at the lower end of the clamping plate to hold the article through the clamping block. A clamping groove with a V-shaped structure is also provided on the clamping block to clamp and hold the core rod.

6. The rubber ring forming loading and unloading and stacking workstation according to claim 5 is characterized by: Lifting members are also installed on the guide plates on both sides of the middle part of the clamping frame. The lifting members include a lifting frame installed on the guide plate and a lifting cylinder fixedly installed on the upper end of the lifting frame. The outer end of the output rod of the lifting cylinder is fixedly connected to the lifting plate to drive the lifting plate to move up and down. A limiting groove is provided at the outer end of the guide plate corresponding to the lifting plate so that the lifting plate can move up and down in the limiting groove. A lifting block is integrally provided at the lower end of the lifting plate to lift the objects. The lifting plate is arranged between adjacent clamping plates on the guide plate.

7. The rubber ring forming loading and unloading stacking workstation according to claim 2 is characterized by: The first fixed ground rail includes a first fixed frame and fixed blocks installed at corresponding positions on the first fixed frame, and the fixed blocks are provided with V-shaped grooves that cooperate with the V-shaped blocks, so that the vulcanizing frame can be stacked on the fixed blocks of the first fixed ground rail through the V-shaped blocks; The second fixed ground rail and the third fixed ground rail are respectively provided with a guide slide for placing the vulcanizing vehicle, a baffle is installed on one side of the guide slide, and the guide slide is provided with an inclined slide in cooperation with the baffle, so that the guide wheel is clamped on one side of the slide and the baffle for preliminary positioning; The second fixed ground rail, the third fixed ground rail and the unloading station are respectively provided with positioning components for fixing the vulcanizing vehicle, the positioning components include a positioning frame and a positioning cylinder installed on one side of the positioning frame, and a positioning plate arranged at the outer end of the output rod of the positioning cylinder. Positioning guide rods are fixedly installed on both sides of the positioning plate, and guide sleeves are provided on the positioning frame corresponding to the positioning guide rods. The positioning guide rods are inserted into the guide sleeves for sliding connection to improve the stability of the movement of the positioning plate. The positioning plate is clamped between two groups of guide wheels on one side of the vulcanizing vehicle to position the vulcanizing vehicle.

8. The rubber ring forming loading and unloading and stacking workstation according to claim 7 is characterized in that: The unloading station is also provided with an ejection member for ejecting the vulcanizing cart, and the ejection member includes an ejection cylinder and a support plate arranged at the outer end of the output rod of the pusher cylinder, so as to push the vulcanizing cart out of the unloading station through the support plate, and move it on the unloading vulcanizing rail to be introduced into the vulcanizing machine.

9. The rubber ring forming loading and unloading and stacking workstation according to claim 1 is characterized by: The displacement platform is provided with a strip-shaped displacement groove, and displacement slide rails are installed on both sides of the displacement groove. The lower end of the base is slidably connected to the displacement slide rail through a slider, and a rack plate is installed at the lower end of the displacement slide rail on one side of the displacement platform. A displacement motor is installed on the base, and a displacement gear connected to the displacement motor is provided at a corresponding position at the lower end of the base. The displacement gear is meshed with the rack plate to push the base to move back and forth on the displacement platform.

10. The process flow of rubber ring forming, loading and unloading and stacking according to any one of claims 1 to 9, characterized in that: It includes a discharging process step after vulcanization is completed and a loading process step for loading the rubber ring mandrel into the vulcanizer, wherein the discharging process step and the loading process step are arranged in coordination; The unloading process steps include: Step 1: The vulcanization vehicle after vulcanization is pushed to the material picking station of the handling station through the feeding vulcanization track. After being detected by the sensor, the robot moves to the side of the material picking station and starts to grab and move; Step 2: The robot uses the positioning laser sensor on the gripper assembly to illuminate the two right-angled surfaces of the positioning block on the vulcanizing car for positioning. The robot sequentially grabs the rubber ring mandrel on the vulcanizing car to the first feeding chain conveyor, sequentially grabs the second vulcanizing frame for placing the rubber ring mandrel to the first fixed ground rail, and finally grabs the vulcanizing car and the first vulcanizing frame together to the second fixed ground rail; Step 3: The second vulcanization car that has been vulcanized is pushed to the material-retrieving station of the handling station through the feeding vulcanization rail. The manipulator uses the positioning laser sensor on the gripper assembly to illuminate the two right-angled surfaces of the positioning block on the vulcanization car for positioning. The manipulator grabs the rubber ring mandrel on the vulcanization car to the second feeding chain conveyor in turn, grabs the second vulcanization rack for placing the rubber ring mandrel to the vulcanization car on the second fixed rail in turn for stacking, and grabs the second vulcanization car together with the first vulcanization rack on it to the third fixed rail, and the operation is cyclically carried out in sequence; The loading process steps include: Step 1: When sensing that the first discharge chain conveyor is full of formed rubber ring mandrels, the robot moves to the side of the discharge station and starts grabbing and stacking; grabs the vulcanizing cart on the third fixed rail to the discharge station. If there is no vulcanizing cart on the third fixed rail, grabs the vulcanizing cart on the second fixed rail; the positioning cylinder moves to fix the vulcanizing cart; Step 2: After the manipulator grabs the rubber ring mandrel on the first discharging chain conveyor through the gripper assembly, it uses the positioning laser sensor to illuminate the two right-angled surfaces of the positioning block on the vulcanizing car for positioning, and then places the rubber ring mandrel on the first vulcanizing frame on the vulcanizing car; Step 3: The robot illuminates the second vulcanizing rack on the second fixed rail through the positioning laser sensor and moves it to the unloading station; if there is no second vulcanizing rack on the second fixed rail, grab the second vulcanizing rack on the first fixed rail; grab the rubber ring mandrel and the second vulcanizing rack in turn to complete the stacking work; Step 4: The positioning cylinder controls the positioning plate to move out, and the push-out cylinder moves the vulcanizing car out of the unloading station through the push plate, and transfers it to the vulcanizing machine through the unloading vulcanizing rail; the handling station grabs and stacks materials in an orderly manner, and the work cycle is like this.

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