Material taking manipulator tool and manipulator system of vulcanizing machine

Abstract

The invention discloses a vulcanizing machine reclaiming manipulator tool and a manipulator system, and relates to the technical field of automatic vulcanization. The material taking manipulator tool of the vulcanizing machine is used for improving the vulcanizing and material taking capacity of sheet materials and comprises a fixing frame body, the fixing frame body is used for being connected with a manipulator, a material taking mechanism is carried on the fixing frame body and comprises a clinker grabbing device, a rolling frame and a rubber pressing assembly, the clinker grabbing device is carried on the rolling frame, and the rubber pressing assembly is arranged on the rolling frame. The rolling frame is rotationally arranged relative to the fixed frame body, and the adhesive pressing assembly is carried on the rolling frame; the clinker grabbing device is used for grabbing clinker pieces from a vulcanizing machine, the rubber pressing assembly is used for pressing the parts, grabbed from the vulcanizing machine, of the clinker pieces on the rolling frame, and the rolling frame is used for winding the clinker pieces when rotating. According to the material taking manipulator tool of the vulcanizing machine, the capability of taking flaky materials from the vulcanizing machine is improved. The manipulator system is a specific use mode of the material taking manipulator tool of the vulcanizing machine.

Description

Technical Field

[0001] The invention relates to the technical field of automated vulcanization, in particular to a manual loading mechanism for a vulcanizing machine, and also to a robot system. Background Art

[0002] The processing of some products requires vulcanization, which means that the corresponding materials are sent to the vulcanizer, where they are heated and pressurized to form. Among them, there are some cases of vulcanization processing with sheet materials as raw materials - the whole piece of raw material is placed in the vulcanizer, and the vulcanizer is heated and pressurized to form. After forming, the clinker is taken out of the vulcanizer as a whole piece; and then the formed small pieces are blanked through cutting and / or punching. The rubber sheet after vulcanization is usually called clinker.

[0003] In the prior art, when the sheet material is vulcanized and then taken out from the vulcanizer, there is resistance between the clinker and the vulcanizer mold that hinders the separation of the two due to various factors such as the viscosity between the material and the mold and the increase in the contact area between the material and the mold after vulcanization. This resistance is summarized as the material removal resistance. The material removal resistance varies with the processing of different products.

[0004] The Chinese invention patent with the authorization announcement number CN 218052666 U and the name "A Mechanical Manual Assembly" (hereinafter referred to as the prior art) can be used for the removal of clinker from the vulcanizer in the above situation. When using it to take out the clinker in the vulcanizer, use the clinker sheet grabbing device to "pinch" the clinker sheet in the vulcanizer, and then pull the clinker sheet out of the vulcanizer by the manipulator. This technical solution in the prior art can meet the processing requirements of some products. However, in the processing of some products with large material removal resistance (for example, some products have a large mold cavity depth, or some product cavities have a threaded structure, and the material removal resistance of these products becomes larger), the material removal effect performance of the prior art cannot meet the use requirements. In the face of such enhanced working conditions, if the prior art continues to be used, either the material removal efficiency is low or even impossible to remove the material, or the clinker sheet is easily torn or even the product on the clinker sheet is torn. Summary of the invention

[0005] The object of the present invention is to provide a manual device for taking out material from a vulcanizing machine, so as to improve the ability of taking out material during vulcanization of sheet materials.

[0006] The manual device of the vulcanizing machine material taking machine comprises a fixed frame, the fixed frame is used to connect the manipulator, the fixed frame is equipped with a material taking mechanism, the material taking mechanism comprises a clinker grabbing device, a rolling frame and a glue pressing component, the clinker grabbing device is mounted on the rolling frame, the rolling frame is rotatably arranged relative to the fixed frame, and the glue pressing component is mounted on the rolling frame;

[0007] The clinker grabbing device is used to grab the clinker sheet from the vulcanizer, and the glue pressing assembly is used to press the part of the clinker sheet grabbed from the vulcanizer onto the rolling frame, and the rolling frame is used to wind the clinker sheet when it rotates.

[0008] The beneficial effect is that during the rotation of the rolling frame, the removed clinker sheet is actually "wound" on the rolling frame, and the glue pressing component itself will enhance the contact area between the clinker film and the material taking mechanism, enhance the stability of the connection, disperse the force exerted on the film to a certain extent, and then protect the film. During the winding process, the clinker film itself is uneven (including products of specific shapes). This unevenness combined with the tension exerted on the film will increase the "friction" between the layers of the removed winding part, and also increase the contact area. This friction further enhances the stability of the connection between the clinker film and the material taking mechanism; the increase in the contact area also further disperses the force during the pulling of the film, which is beneficial to protecting the clinker film. Therefore, compared with the prior art, the manual installation of the vulcanizer material taking machine provided by the present invention has been improved in the material taking capacity from the vulcanizer, and is also more conducive to protecting the taken clinker film.

[0009] Furthermore, the glue pressing assembly includes a fixed part and a movable part, the fixed part is fixedly arranged relative to the rotating frame, the movable part is swingably arranged relative to the rotating frame, and the movable part can be pressed on the fixed part to press the cooked glue sheet.

[0010] The advantage is that the movable part can be pressed against the fixed part or the movable part 23 can be moved away from the fixed part by swinging the movable part.

[0011] Furthermore, the movable part comprises a cover plate, a part of which is in an arc shape, and when the movable part is pressed against the fixed part, the clinker grabbing device is located on the inner side of the cover plate.

[0012] Its advantages are: it is better suitable for winding work and can protect the wound material from being punctured; it is also conducive to increasing the winding diameter, reducing the curvature of the material during winding to a certain extent, and is conducive to protecting the material and reducing the risk of tearing.

[0013] Furthermore, a swing drive mechanism is provided between the rolling frame and the movable part, and the swing drive mechanism includes a swing frame, a connecting rod and a sliding block. The movable part is mounted on the swing frame, one end of the connecting rod is hinged on the sliding block, and the other end of the connecting rod is hinged to the swing frame. The swing frame is hinged on the rolling frame. When the sliding block slides, the swing frame swings. The sliding block is connected to a power device, and the power device is used to drive the sliding block to slide.

[0014] The advantage is that it is conducive to driving the active part to swing stably and smoothly.

[0015] Furthermore, the clinker grabbing device includes a plurality of clamping claw devices.

[0016] The advantage is that when picking up from the vulcanizing machine mold, the clinker film is elastic, and the surface of the clinker film is pinched by the clamping claw device for preliminary picking up.

[0017] Furthermore, the rolling frame includes a structural frame and a protective cover detachably connected to the outer side of the structural frame.

[0018] The advantage is that when winding, the material is wound around the circumferential area surrounded by the shield and the cover plate, which is beneficial to protect the product.

[0019] Furthermore, the material taking mechanism comprises a connecting arm, the rolling frame is rotatably connected to the connecting arm, and the connecting arm is detachably fixedly connected to the fixed frame body.

[0020] Its advantages are: it is conducive to flexible selection by users and also conducive to the transformation of old equipment.

[0021] Furthermore, a negative pressure suction cup group is mounted on the fixed frame.

[0022] Its advantage is that it has the functions of feeding materials into the vulcanizer and taking materials out of the vulcanizer.

[0023] We also offer robot systems for automated material removal from the curing press.

[0024] The robot system comprises a multi-axis robot and the above-mentioned vulcanizing machine material taking robot manual device, and the fixed frame is mounted on the multi-axis robot.

[0025] The manipulator system is the specific use and application of the manual loading of the vulcanizing machine reclaimer, and has the beneficial effects of the manual loading of the vulcanizing machine reclaimer. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional schematic diagram of the manual loading of the vulcanizing machine reclaimer;

[0027] Figure 2 This is the front view of the manual assembly of the vulcanizing machine reclaimer;

[0028] Figure 3 It is a three-dimensional schematic diagram of the material taking mechanism in state one;

[0029] Figure 4 It is a three-dimensional schematic diagram of the material taking mechanism in state 2;

[0030] Figure 5 It is a schematic diagram of the driving mechanism implementation principle;

[0031] Figure 6 is a three-dimensional schematic diagram of a driving mechanism;

[0032] Figure 7is a three-dimensional diagram of the robot system;

[0033] 1. Fixed frame, 2 rolling frame, 21 clinker grabbing device, 22 fixed part, 23 movable part, 24 cover plate, 25 structural frame, 26 protective cover, 27 negative pressure suction cup, 28 fixed block, 3 power device, 31 swing frame, 32 connecting rod, 33 slider part, 34 threaded hole, 35 screw part, 4 connecting arm, 5 multi-axis manipulator. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 making creative work are within the scope of protection of the present invention. The "connection" involved in the description of the present invention can be a direct connection or a connection through an intermediate connector.

[0035] like Figures 1 to 4As shown, the vulcanizer material taking mechanical manual device includes a fixed frame 1, and the fixed frame 1 is used to connect the manipulator. The fixed frame 1 is equipped with a material taking mechanism, which includes a clinker grabbing device 21, a rolling frame 2 and a glue pressing assembly. The clinker grabbing device 21 is mounted on the rolling frame 2, and the rolling frame 2 is rotatably arranged relative to the fixed frame 1, and the glue pressing assembly is mounted on the rolling frame 2. The clinker grabbing device 21 is used to grab the clinker sheet from the vulcanizer, and the glue pressing assembly is used to press the part of the clinker sheet grabbed from the vulcanizer onto the rolling frame 2, and the rolling frame 2 is used to wind the clinker sheet when it rotates. The manual feeding machine for vulcanizer is used to be mounted on a multi-axis manipulator to take clinker slices from the vulcanizer. The feeding principle of the manual feeding machine for vulcanizer is as follows: first, the clinker grabbing device 21 is used to grab (more figuratively speaking, "pinch") the clinker slice on the vulcanizer mold, and then, driven by the multi-axis manipulator, the clinker slice is pulled down a small section, and then, the glue pressing component is used to press the part of the clinker slice grabbed from the vulcanizer onto the roller rack 2, and then, the roller rack 2 rotates to remove the remaining clinker slice from the vulcanizer mold rack. During the rotation of the roller 2, the removed clinker sheet is actually "wound" on the roller 2. The glue pressing component itself will enhance the stability of the connection between the clinker film and the material taking mechanism, disperse the force exerted on the film to a certain extent, and then protect the film; during the winding process, the clinker film itself is uneven (including products of specific shapes). This unevenness combined with the tension exerted on the film will increase the "friction" between the layers of the removed winding part and also increase the contact area. This friction further enhances the stability of the connection between the clinker film and the material taking mechanism; the increase in the contact area also further disperses the force during the pulling of the film, which is beneficial to protecting the clinker film. Therefore, compared with the prior art, the manual installation of the vulcanizer material taking machine provided by the present invention has been improved in the material taking capacity from the vulcanizer, and is also more conducive to protecting the taken clinker film.

[0036] like Figure 7 As shown, the manipulator system, that is, the use of the vulcanizer material taking robot manual installation, includes a multi-axis manipulator 6 and a vulcanizer material taking robot manual installation, and the fixed frame 1 is mounted on the multi-axis manipulator.

[0037] like Figure 1 , Figure 3 and Figure 4As shown, the rubber pressing assembly includes a fixed portion 22 and a movable portion 23. The fixed portion 22 is fixedly arranged relative to the rotating frame, and the movable portion 23 is swingably arranged relative to the rotating frame. The movable portion 23 can be pressed on the fixed portion 22 to press the cooked rubber sheet. The movable portion 23 is pressed on the fixed portion 22 or moved away from the fixed portion by the swinging of the movable portion 23. The movable portion 23 includes a cover plate 24, a part of which is in an arc shape, and this arc shape can be better suitable for winding work. When the movable portion 23 is pressed on the fixed portion 22, the clinker grabbing device 21 is located on the inner side of the cover plate 24. When the rolling frame winds the material, the cover plate 24 supports and protects the wound material to prevent it from being punctured by the clinker grabbing device 21. The cover plate 24 is also conducive to increasing the radius of the coiled material and reducing the stress concentration of the rubber clinker.

[0038] like Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, a swing drive mechanism is provided between the rolling frame 2 and the movable part 23, and the swing drive mechanism includes a swing frame 31, a connecting rod 32 and a slider 33. The slider 33 here refers to a movement with only one degree of freedom, and this degree of freedom is reciprocating in a straight line. One end of the connecting rod 32 is hinged on the slider 33, and the other end of the connecting rod 32 is hinged to the swing frame 31. The swing frame 31 is hinged on the rolling frame 2. When the slider 33 slides, the swing frame 31 swings. The slider 33 is connected to the power device 3, and the power device 3 is used to drive the slider 33 to slide. A cylinder is used as the power device 3, the cylinder body of the cylinder is mounted on the rolling frame 2, and the slider 33 is fixed to the piston rod of the cylinder; the rolling frame 2 includes a fixed block 28, and the fixed block 28 is used as the hinge position of the swing frame 31 on the rolling frame 2. The swing frame 31 is provided with two swing arms, and the two swing arms are distributed on both sides of the fixed block 28. The slider 33 is hinged with two parallel connecting rods 32, which are distributed on both sides of the slider 33. The swing frame 31 is provided with a threaded hole 34, and the movable part 23 is connected to the swing frame 31 through a screw 35 that matches the threaded hole 34. Two or more sets of the above-mentioned swing drive mechanism can be set. The swing of the movable part is driven by the sliding of the slider 33. The clinker grabbing device 21 includes a plurality of clamping devices, and the mouth of the clamping device is as "sharp" as possible, so as to facilitate the picking up of the clinker film on the vulcanizer by "pinching".

[0039] like Figure 3 and Figure 4 As shown, the roller 2 includes a structural frame 25 and a shield 26 detachably connected to the outside of the structural frame. The shield 26 isolates the inside and outside of a part of the roller in the circumferential direction. When the clinker is wound, the innermost circle of the clinker is pressed on the shield 26 and the cover plate 24.

[0040] like Figures 2 to 4The material taking mechanism includes a connecting arm 4, a rolling frame 2 is rotatably connected to the connecting arm 4, and the connecting arm 4 is detachably fixedly connected to the fixed frame 1. A rolling frame 2 is arranged on each side of the fixed frame 1. It is convenient for separate production and for users to flexibly select. The fixed frame is equipped with a negative pressure suction cup group, which is composed of a plurality of negative pressure suction cups 27. The negative pressure suction cup group can be used to pick up raw materials, and then the raw materials are placed in the vulcanizer through the manipulator system.

Claims

1. A manual device for vulcanizing machine retrieving material, comprising a fixed frame, the fixed frame is used to connect the manipulator, and is characterized in that: The fixed frame is equipped with a material taking mechanism, which includes a clinker grabbing device, a rolling frame and a glue pressing assembly. The clinker grabbing device is mounted on the rolling frame, the rolling frame is rotatably arranged relative to the fixed frame, and the glue pressing assembly is mounted on the rolling frame; The clinker grabbing device is used to grab the clinker sheet from the vulcanizer, and the glue pressing assembly is used to press the part of the clinker sheet grabbed from the vulcanizer onto the rolling frame, and the rolling frame is used to wind the clinker sheet when it rotates.

2. The manual loading device for vulcanizing machine according to claim 1 is characterized in that: The glue pressing assembly comprises a fixed part and a movable part, wherein the fixed part is fixedly arranged relative to the rotating frame, and the movable part is swingably arranged relative to the rotating frame, and the movable part can be pressed against the fixed part to press the cooked glue sheet.

3. The manual loading device for vulcanizing machine according to claim 2 is characterized in that: The movable part comprises a cover plate, a part of which is in an arc shape. When the movable part is pressed against the fixed part, the clinker grabbing device is located on the inner side of the cover plate.

4. The manual loading device for vulcanizing machine according to claim 2 is characterized in that: A swing driving mechanism is provided between the rolling frame and the movable part, and the swing driving mechanism includes a swing frame, a connecting rod and a sliding block. The movable part is mounted on the swing frame, one end of the connecting rod is hinged on the sliding block, and the other end of the connecting rod is hinged to the swing frame. The swing frame is hinged on the rolling frame. When the sliding block slides, the swing frame swings. The sliding block is connected to a power device, and the power device is used to drive the sliding block to slide.

5. The manual loading device for vulcanizing machine retrieving material according to claim 1 is characterized in that: The clinker grabbing device comprises a plurality of clamping claw devices.

6. The manual loading device for vulcanizing machine according to claim 1 is characterized in that: The rolling frame comprises a structural member frame and a protective cover detachably connected to the outer side of the structural frame.

7. The manual loading device for vulcanizing machine according to claim 1 is characterized in that: The material taking mechanism comprises a connecting arm, the rolling frame is rotatably connected to the connecting arm, and the connecting arm is detachably fixedly connected to the fixed frame body.

8. The manual loading device for vulcanizing machine according to claim 1 is characterized in that: The fixed frame is equipped with a negative pressure suction cup group.

9. A robot system, including a multi-axis robot, characterized in that: It also includes a vulcanizing machine material taking mechanical manual device as described in any one of claims 1 to 8, wherein the fixed frame is mounted on a multi-axis manipulator.

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