Rubber slice feeding device

Abstract

The rubber slice feeding device comprises a rack, a feeding conveying line, a transition conveying line and an edge folding conveying line are sequentially arranged on the rack from left to right, the discharging end of the feeding conveying line is connected with the feeding end of the transition conveying line, the discharging end of the transition conveying line is connected with the feeding end of the edge folding conveying line, and the feeding end of the edge folding conveying line is connected with the discharging end of the transition conveying line. A transverse moving module is arranged on the machine frame, the output end of the transverse moving module is connected to the transition conveying line, an XYZR four-axis mechanical arm is arranged on the machine frame, the XYZR four-axis mechanical arm is connected with a clamp, and rubber slices flow to the transition conveying line from the feeding conveying line and are transferred to the edge folding conveying line through the transition conveying line to be subjected to edge folding. The XYZR four-axis mechanical arm drives the clamp to clamp the rubber slices onto the hanging tool, the rubber slices can be automatically loaded onto the hanging tool, the efficiency is improved, and the cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of rubber slice feeding, in particular to a rubber slice feeding device. Background Art

[0002] Crepe sheet, also known as crepe rubber and crepe rubber sheet, is a natural rubber product. After the latex is obtained from the rubber tree, it is condensed and rolled into a raw rubber sheet with a wrinkled surface. The density is 0.90-0.93. The quality is assessed based on appearance, chemical composition, and physical and mechanical properties. There are three types: white crepe sheet, brown crepe sheet and black crepe sheet. Each type is divided into several grades, and there are thin and thick sheets. In subsequent processing, the crepe sheet roll needs to be cut into fixed-length segments, and then hung on a hanger, and transported to the drying room for drying by a hanging chain track. After slicing by the slicer, it is often necessary to manually fold the fixed-length rubber slices in half and hang them on the hanger, which is inefficient and costly. Summary of the invention

[0003] In view of the above-mentioned prior art, the present invention provides a rubber slice feeding device, which can automatically load the rubber slices onto a hanger, thereby improving efficiency and reducing costs.

[0004] To achieve the above object, the technical solution of the embodiment of the present invention is implemented as follows:

[0005] A rubber slice feeding device comprises a frame, on which a feeding conveyor line, a transition conveyor line and a folding conveyor line are arranged in sequence from left to right, the discharge end of the feeding conveyor line is connected to the feed end of the transition conveyor line, the discharge end of the transition conveyor line is connected to the feed end of the folding conveyor line, a transverse movement module is arranged on the frame, the output end of the transverse movement module is connected to the transition conveyor line, an XYZR four-axis manipulator is arranged on the frame, the XYZR four-axis manipulator is connected to a clamp, the rubber slice flows from the feeding conveyor line to the transition conveyor line, is transferred to the folding conveyor line through the transition conveyor line and folded, and then the XYZR four-axis manipulator drives the clamp to clamp the rubber slice from the folding conveyor line to a hanger.

[0006] Furthermore, the feeding conveyor line includes a feeding conveyor line frame and a feeding drive motor, a feeding active shaft, and a feeding driven shaft arranged on the feeding conveyor line frame. A feeding conveyor belt is wound between the feeding active shaft and the feeding driven shaft. First guide plates are arranged on both sides of the feeding conveyor line, and the feeding conveyor line is provided with a material sensor.

[0007] Furthermore, the number of the transition conveyor lines is 2, and the 2 transition conveyor lines are arranged side by side. The transition conveyor line includes a transition conveyor line frame and a transition drive motor, a transition active shaft, and a transition driven shaft arranged on the transition conveyor line frame. A transition conveyor belt is wound between the transition active shaft and the transition driven shaft. Second guide plates are provided on both sides of the transition conveyor line, and the transition conveyor line is provided with an in-position sensor.

[0008] Furthermore, the number of the folding conveyor lines is 3, which are arranged side by side. The folding conveyor lines include a first section conveyor line and a second section conveyor line. The first section conveyor line and the second section conveyor line both include a conveyor line frame and a driving motor, a driving shaft, a driven shaft, and a pressing assembly arranged on the conveyor line frame. A conveying belt is wound between the driving shaft and the driven shaft. A third guide plate is provided on the first section conveyor line and the second section conveyor line. The first section conveyor line is provided with a material sensor, and the second section conveyor line is provided with an in-position sensor. The pressing assembly includes a pressing wheel, which is rotatably connected to the conveyor line frame. A connecting frame is provided between the first section conveyor line and the second section conveyor line, and the connecting frame is slidably connected to a forming rod up and down.

[0009] Furthermore, the XYZR four-axis manipulator includes a base, an X-axis, a Y-axis, a Z-axis and an R-axis, the base is connected to the frame, the X-axis is installed on the base, the Y-axis is installed on the X-axis, the Z-axis is installed on the Y-axis, the R-axis is installed on the Z-axis, and the R-axis is provided with the fixture.

[0010] Furthermore, the fixture includes a jig plate, a clamp, a suction cup, a guide rod and a cylinder, the guide rod is connected to the jig plate, the cylinder is installed on the jig plate, the output end of the cylinder is respectively connected to the clamps on both sides, the clamp is movably connected to the guide rod, and the suction cup is installed on the inner side of the clamp.

[0011] Furthermore, the pressure wheel includes an inner rod and an outer wheel sleeve, the outer wheel sleeve is rotatably connected to the inner rod, both ends of the inner rod are provided with threaded holes, the edge pressing assembly also includes a connecting block, the connecting block is installed on the conveyor line frame, the connecting block is provided with a long groove, the connecting block is provided with an adjusting bolt with a nut passing through the long groove, and the adjusting bolt cooperates with the threaded hole on the inner rod.

[0012] Furthermore, a cavity is provided in the forming rod, and a plurality of vacuum holes are provided in the forming rod, and the vacuum holes are connected to the cavity.

[0013] Furthermore, the connecting frame is provided with a guide rail matched with a slider, and a driving pulley and a driven pulley are rotatably connected to the connecting frame, a synchronous belt is wound between the driving pulley and the driven pulley, and the connecting frame is provided with a driving motor for driving the driving pulley, and the forming rod is installed on the slider, and the forming rod is fixed to the synchronous belt.

[0014] Furthermore, the XYZR four-axis manipulator is provided with a positioning camera.

[0015] Furthermore, the clamp includes a clamp rod with spikes at the front end and a spring, the clamp rod is movably connected to the clamp plate, the clamp rod is connected to one end of the spring, and the other end of the spring is connected to the clamp plate.

[0016] The beneficial effects of the present invention are as follows: the rubber slices are received by the feeding conveyor line, the rubber slices are transferred and temporarily stored by the transition conveyor line to avoid material stacking, and then the hemming is performed by the hemming conveyor line to replace manual hemming, liberate labor, and improve efficiency. Finally, the XYZR four-axis manipulator drives the clamp to grab the folded rubber slice and hang it on the hanger, so as to realize automatic feeding of rubber slices, with a high degree of automation, improved efficiency, and reduced cost. When applied, it can save labor and time costs and improve the production efficiency of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a rubber slice feeding device in an embodiment of the present application;

[0018] Figure 2 A top view of a rubber slice feeding device in an embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of the structure of the feeding conveyor line and the transition conveyor line in the embodiment of the present application;

[0020] Figure 4 This is a schematic diagram of the structure of the feeding conveyor line in the embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of the structure of the folding conveyor line in an embodiment of the present application;

[0022] Figure 6 This is an enlarged schematic diagram of point A in the embodiment of the present application;

[0023] Figure 7 This is a schematic diagram of the structure of the clamp in the embodiment of the present application;

[0024] Figure 8 This is a schematic diagram of the structure of the forming rod in the embodiment of the present application;

[0025] Fig. 9This is a schematic diagram of the structure of the edge pressing assembly in the embodiment of the present application;

[0026] Fig.10 This is a schematic diagram of the structure of the forming rod in the embodiment of the present application;

[0027] Fig.11 This is a schematic diagram of the structure of the forming rod in the embodiment of the present application;

[0028] Fig.12 This is an enlarged schematic diagram of point B in the embodiment of the present application;

[0029] Description of Figure Numbers:

[0030] 1. Frame; 2. Feeding conveyor line; 3. Transition conveyor line; 4. Folding conveyor line; 5. Clamp; 6. Rubber slice; 7. Hanger; 8. First guide plate; 9. Material sensor; 10. Second guide plate; 11. In-position sensor; 12. Third guide plate; 13. Press wheel; 14. Connecting frame; 15. Forming rod; 16. Base; 17. X-axis; 18. Y-axis; 19. Z-axis; 20. R-axis; 21. Jig plate; 22. Clamp plate; 23. Suction cup; 24. Guide rod; 25. Cylinder; 26. Inner rod; 27. Outer wheel sleeve; 28. Connecting block; 29. ​​Long slot; 30. Nut; 31. Adjusting bolt; 32. Vacuum hole; 33. Guide rail; 34. Driving pulley; 35. Driven pulley; 36. Synchronous belt; 37. Alignment camera; 38. Suspension chain track; 39. Transverse movement module; 40. First section of conveyor line; 41. Second section of conveyor line; 42. XYZR four-axis manipulator; 43. Clamp rod; 44. Spike; 45. Spring. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further elaborated in detail below in conjunction with the drawings and specific embodiments of the specification. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. In the following description, the expression "some embodiments" is related to a subset of all possible embodiments, but it should be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0032] It should also be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "inside", "outside", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0033] Example 1

[0034] See attached Figure 1-12 The present application provides a rubber slice feeding device, including a frame 1, on which a feeding conveyor line 2, a transition conveyor line 3 and a folding conveyor line 4 are arranged from left to right in sequence, the feeding conveyor line 2 is used to dock with a slicer, and the rubber slices 6 cut into fixed lengths by the slicer flow onto the feeding conveyor line 2, the discharge end of the feeding conveyor line 2 is connected to the feed end of the transition conveyor line 3, and the discharge end of the transition conveyor line 3 is connected to the feed end of the folding conveyor line 4, a transverse movement module 39 is arranged on the frame 1, and the output end of the transverse movement module 39 is connected to the transition conveyor line 3, the rubber slices 6 on the feeding conveyor line 2 flow into the transition conveyor line 3, and the transition conveyor line 3 is moved to dock with the input end of the folding conveyor line 4 by the transverse movement module 39, and the The transition conveyor line 3 transfers the rubber slice 6 to the folding conveyor line 4 for folding. The frame 1 is provided with an XYZR four-axis manipulator 42, and the XYZR four-axis manipulator 42 is connected with a clamp 5. The rubber slice 6 flows from the feeding conveyor line 2 to the transition conveyor line 3. After being transferred to the folding conveyor line 4 through the transition conveyor line 3 for folding, the XYZR four-axis manipulator 42 drives the clamp 5 to clamp the rubber slice 6 from the folding conveyor line 4 to the hanger 7, receives the rubber slice 6 through the feeding conveyor line 2, transfers the rubber slice 6 through the transition conveyor line 3, and then folds the rubber slice through the folding conveyor line 4. Finally, the XYZR four-axis manipulator 42 drives the clamp 5 to grab the folded rubber slice 6 and hang it on the hanger 7, thereby improving efficiency and reducing costs.

[0035] Specifically, the feeding conveyor line 2 includes a feeding conveyor line 2 frame and a feeding drive motor, a feeding active shaft, and a feeding driven shaft arranged on the feeding conveyor line 2 frame. A feeding conveyor belt is wound between the feeding active shaft and the feeding driven shaft. First guide plates 8 are provided on both sides of the feeding conveyor line 2. The feeding conveyor line 2 is provided with a material sensor 9. The feeding drive motor drives the feeding active shaft to operate, and the feeding driven shaft cooperates to realize the operation of the feeding conveyor belt. The rubber slices 6 are transported to the following process on the conveying surface of the feeding conveyor belt. First guide plates 8 are provided on both sides of the feeding conveyor line 2 for guiding the rubber slices 6 to avoid jamming or stacking caused by position offset. The feeding conveyor line 2 is provided with a material sensor 9, which is electrically connected to the slicer through a control panel. When the material sensor 9 has a signal, the feeding conveyor line 2 has material, and the slicer does not transport the material downward, or the slicer is controlled to pause to avoid stacking.

[0036] Specifically, the number of the transition conveyor lines 3 is 2, preferably 2, or more than 2, which can be set according to demand. The 2 transition conveyor lines 3 are arranged side by side and designed at a certain interval. The transition conveyor line 3 includes a transition conveyor line 3 frame and a transition drive motor, a transition active shaft, and a transition driven shaft arranged on the transition conveyor line 3 frame. A transition conveyor belt is wound between the transition active shaft and the transition driven shaft. Second guide plates 10 are arranged on both sides of the transition conveyor line 3. The transition conveyor line 3 is provided with an in-position sensor 11. Similarly, the transition drive motor drives the transition active shaft to operate, and the transition driven shaft cooperates to realize the operation of the transition conveyor belt. The rubber slice 6 is in the transition The rubber slices 6 are transported to the transition conveyor line 3 on the conveying surface of the transition conveyor belt for temporary storage, and then transferred to the next process. A second guide plate 10 is provided on both sides of the transition conveyor line 3 for guiding the rubber slices 6 to avoid jamming or stacking caused by position offset. The transition conveyor line 3 is provided with an in-place sensor 11, which is electrically connected through the control panel. When the in-place sensor 11 has a signal, it means that there is material in the transition conveyor line 3. The transverse shift module 39 can be operated to transfer the transition conveyor line 3 with material to the input end of the folding conveyor line 4 for docking and loading, and the transition conveyor line 3 without material is transferred to dock with the loading conveyor line 2 for continued loading, thereby realizing flexible transition turnover of the rubber slices 6 and improving efficiency.

[0037] Specifically, the number of the folding conveyor lines 4 is 3, preferably 3, and can also be more than 3, which are arranged side by side, and the two adjacent folding conveyor lines 4 are arranged at a certain interval, and the interval is preferably consistent with the interval of the transition conveyor line 3. When the transition conveyor line 3 moves one interval, it can be aligned with the folding conveyor line 4, which is convenient for programming. For the transition conveyor line 3, only two positions need to be programmed. The positions of the three folding conveyor lines 4 are arranged so that the middle folding conveyor line 4 (hereinafter referred to as: middle folding conveyor line 4) and the feeding conveyor line 2 are on the same straight line, and the folding conveyor lines 4 on both sides are arranged left and right (the one located on the left side of the middle folding conveyor line 4 is called: left folding conveyor line 4, and the one located on the right side of the middle folding conveyor line 4 is called: right folding conveyor line 4), and the interval The spacing between the transition conveyor line 3 and the transition conveyor line 3 is consistent. When working, the transition conveyor line 3 on the right (hereinafter referred to as the right transition conveyor line 3) is set to align with the middle folding conveyor line 4. At this time, the transition conveyor line 3 on the left (hereinafter referred to as the left transition conveyor line 3) is aligned with the left folding conveyor line 4. At this time, the rubber slice 6 can move from the feeding conveyor line 2 through the transition conveyor line 3 to the middle folding conveyor line 4 for folding, and the right transition conveyor line 3 also temporarily stores a piece of rubber slice 6. The transverse movement module 39 drives the transition conveyor line 3 to move to the right by a spacing to transfer and align with the right folding conveyor line 4, and transports the rubber slice 6 temporarily stored on it to the folding conveyor line 4. At the same time, the left transition conveyor line 3 also moves to the middle and docks with the middle folding conveyor line 4, and the XY The ZR four-axis manipulator 42 drives the clamp 5 to clamp the rubber slice 6 on the middle folding conveyor line 4 and hang it on the hanger 7. The hanging chain rail moves the hanger 7 downward, and the rubber slice 6 continues to be transferred from the feeding conveyor line 2 to the middle folding conveyor line 4 through the left transition conveyor line 3. At this time, a piece of rubber slice 6 is temporarily stored on the left transition conveyor line 3, and the rubber slice 6 is transported to the left folding conveyor line 4 by moving a spacing to the left and aligning it with the left folding conveyor line 4. The XYZR four-axis manipulator 42 drives the clamp 5 to clamp and hang them on the hanger 7 one by one. This cycle can complete the automatic feeding of the rubber slice 6, improve efficiency, and avoid stacking of slices caused by inefficiency. The folding conveyor line 4 includes a first section conveyor line 40 and a second section conveyor line 41. The first section conveyor line 40 and The second section conveyor line 41 includes a conveyor line frame and a driving motor, a driving shaft, a driven shaft, and a press edge assembly arranged on the conveyor line frame. A conveyor belt is wound between the driving shaft and the driven shaft. The first section conveyor line 40 and the second section conveyor line 41 are both provided with a third guide plate 12 for guiding. The first section conveyor line 40 is provided with a material sensor 9 for detecting whether there is material conveyed. The second section conveyor line 41 is provided with an in-position sensor 11 for detecting that the rubber slice 6 is in position and the conveying is suspended. The press edge assembly includes a pressing wheel 13, and the pressing wheel 13 is rotatably connected to the conveyor line frame. A connecting frame 14 is provided between the first section conveyor line 40 and the second section conveyor line 41. The connecting frame 14 is slidably connected to a forming rod 15 up and down.The edge pressing components are respectively arranged on both sides of the forming rod 15. The forming rod 15 is lowered below or flush with the conveying surface of the conveyor line. When the rubber slice 6 is delivered to the position, the forming rod 15 is raised to lift the rubber slice 6 from the middle, and the pressing wheels 13 on both sides press the two sides of the rubber slice 6 to guide the folding edge and level it to prevent wrinkles. When the forming rod 15 is raised to the position, the rubber slice 6 is in the shape of the middle on top and the two ends on the bottom. The clamp 5 can be directly hung on the hanger 7 by grabbing it, which is convenient and fast, replaces manual labor, is highly efficient, and reduces costs. In specific implementation, the height of the rising of the forming rod 15 is determined by the actual situation, and can also be raised to a certain height. At this time, part of the two ends of the rubber slice 6 are still pressed on the pressing wheel 13 to prevent the rubber slice 6 from completely separating from the pressing wheel 13 and spreading. The clamp 5 only needs to grab and lift it to separate it.

[0038] Specifically, the XYZR four-axis manipulator 42 includes a base 16, an X-axis 17, a Y-axis 18, a Z-axis 19 and an R-axis 20. The base 16 is connected to the frame 1, the X-axis 17 is installed on the base 16, the Y-axis 18 is installed on the X-axis 17, the Z-axis 19 is installed on the Y-axis 18, the R-axis 20 is installed on the Z-axis 19, and the R-axis 20 is provided with the fixture 5 to realize the XYZR four-axis motion.

[0039] Specifically, the fixture 5 includes a jig plate 21, a splint 22, a suction cup 23, a guide rod 24 and a cylinder 25. The guide rod 24 is connected to the jig plate 21, and the cylinder 25 is installed on the jig plate 21. The output ends of the cylinder 25 are respectively connected to the splints 22 on both sides. The splints 22 are movably connected to the guide rod 24, and the stability is improved by the guide rail 33. The suction cup 23 is installed on the inner side of the splint 22. The suction cup 23 is connected to a vacuum pump and is used to absorb the rubber slice 6. The cylinder 25 works to clamp the splints 22 on both sides inward, so that the suction cup 23 is close to absorb the rubber slice 6, and is driven to the hanger 7 by the XYZR four-axis manipulator 42 to hang the rubber slice 6, thereby completing automatic loading with a high degree of automation.

[0040] Specifically, the pressure wheel 13 includes an inner rod 26 and an outer wheel sleeve 27, the outer wheel sleeve 27 is rotatably connected to the inner rod 26, and threaded holes are provided at both ends of the inner rod 26. The edge pressing assembly also includes a connecting block 28, which is installed on the conveyor line frame. The connecting block 28 is provided with a long groove 29, and both ends of the inner rod 26 are installed in the long groove 29. The connecting block 28 is provided with an adjusting bolt 31 with a nut 30 that passes through the long groove 29. The adjusting bolt 31 and the connecting block 28 are connected by threads, and the adjusting bolt 31 cooperates with the threaded hole on the inner rod 26. The upper and lower positions of the pressure wheel 13 are adjusted by rotating the adjusting bolt 31, so as to adjust the pressure of the pressure wheel 13 on the rubber slice 6. After adjustment, the adjusting bolt 31 is fixed by the nut 30, and the structure is simple.

[0041] Preferably, a cavity is provided inside the molding rod 15 and is connected to a vacuum pump. The molding rod 15 is provided with a plurality of vacuum holes 32, and the vacuum holes 32 are connected to the cavity. The rubber slice 6 is adsorbed through the vacuum holes 32 to improve stability and prevent it from falling. After the clamp 5 clamps, the vacuum of the vacuum holes 32 is closed.

[0042] Specifically, the connecting frame 14 is provided with a guide rail 33 cooperated with a slider, and a driving pulley 34 and a driven pulley 35 are rotatably connected to the connecting frame 14, and a synchronous belt 36 is wound around the driving pulley 34 and the driven pulley 35. The connecting frame 14 is provided with a driving motor for driving the driving pulley 34, and the forming rod 15 is installed on the slider, and the forming rod 15 is fixedly connected to the synchronous belt 36. The driving pulley 34 is rotated by the driving motor, and the synchronous belt 36 is transmitted by the cooperation of the driven pulley 35. The forming rod 15 is connected to the synchronous belt 36, and the driving motor is reversed to realize the up and down movement of the forming rod 15. The guide rail 33 and the slider cooperate to improve the smoothness and stability.

[0043] Preferably, the XYZR four-axis manipulator 42 is provided with a positioning camera 37, and the positioning camera 37 is electrically connected to the control panel, and is used to photograph the position of the hanger 7 and determine the actual position of the hanger 7, so as to facilitate the XYZR four-axis manipulator 42 to perform compensation, so that the rubber slice 6 can be accurately hung on the hanger 7, avoiding impact damage caused by the position error of the hanger 7, and the structure is reasonable.

[0044] Preferably, the clamp 5 includes a clamp rod 43 with a spike 44 at the front end and a spring 45, the clamp rod 43 is symmetrically arranged, the clamp rod 43 is movably connected to the clamp plate 22, the clamp rod 43 is provided with a guide shaft, one end of the guide shaft is connected to the clamp rod 43, the guide shaft is arranged through the clamp plate 22, the clamp rod 43 is connected to one end of the spring 45, the other end of the spring 45 is connected to the clamp plate 22, the spring is sleeved on the guide shaft, the other end of the guide shaft is provided with a threaded section, and is matched with a nut for adjusting The preload force of the spring 45 and the position of the clamping rod 43 are adjusted. When the cylinder 25 contracts and drives the clamping plate 22 to clamp the rubber slice 6, the clamping rod 43 is driven to hold the rubber slice 6, so that the spikes 44 can hang on the rubber slice to prevent the rubber slice from sliding off after the vacuum is broken, thereby improving the stability of the clamping. When the cylinder 25 opens and separates the rubber slice 6, the clamping rod 43 leaves the rubber slice 6, and the spikes 44 are separated from the rubber slice 6. The spring 45 plays a buffering role to avoid interference and hanging between the clamping rod 43 and the molding rod 15.

[0045] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A rubber slice feeding device, characterized in that: The machine comprises a frame, on which a loading conveyor line, a transition conveyor line and a folding conveyor line are arranged in sequence from left to right, the discharge end of the loading conveyor line is connected with the feed end of the transition conveyor line, the discharge end of the transition conveyor line is connected with the feed end of the folding conveyor line, a transverse movement module is arranged on the frame, the output end of the transverse movement module is connected to the transition conveyor line, an XYZR four-axis manipulator is arranged on the frame, the XYZR four-axis manipulator is connected with a clamp, the rubber slice flows from the loading conveyor line to the transition conveyor line, is transferred to the folding conveyor line through the transition conveyor line and folded, and then the XYZR four-axis manipulator drives the clamp to clamp the rubber slice from the folding conveyor line to the hanger.

2. A rubber slice feeding device according to claim 1, characterized in that: The feeding conveyor line includes a feeding conveyor line frame and a feeding drive motor, a feeding active shaft, and a feeding driven shaft arranged on the feeding conveyor line frame. A feeding conveyor belt is wound between the feeding active shaft and the feeding driven shaft. First guide plates are arranged on both sides of the feeding conveyor line, and the feeding conveyor line is provided with a material sensor.

3. A rubber slice feeding device according to claim 1, characterized in that: The number of the transition conveyor lines is 2, and the 2 transition conveyor lines are arranged side by side. The transition conveyor line includes a transition conveyor line frame and a transition drive motor, a transition active shaft, and a transition driven shaft arranged on the transition conveyor line frame. A transition conveyor belt is wound between the transition active shaft and the transition driven shaft. Second guide plates are arranged on both sides of the transition conveyor line, and the transition conveyor line is provided with an in-position sensor.

4. A rubber slice feeding device according to claim 1, characterized in that: There are three folding conveyor lines, which are arranged side by side. The folding conveyor lines include a first section conveyor line and a second section conveyor line. The first section conveyor line and the second section conveyor line both include a conveyor line frame and a driving motor, a driving shaft, a driven shaft, and a pressing assembly arranged on the conveyor line frame. A conveying belt is wound between the driving shaft and the driven shaft. A third guide plate is provided on the first section conveyor line and the second section conveyor line. The first section conveyor line is provided with a material sensor, and the second section conveyor line is provided with an in-position sensor. The pressing assembly includes a pressing wheel, which is rotatably connected to the conveyor line frame. A connecting frame is provided between the first section conveyor line and the second section conveyor line, and the connecting frame is slidably connected to a forming rod up and down.

5. The rubber slice feeding device according to claim 1, characterized in that: The XYZR four-axis manipulator includes a base, an X-axis, a Y-axis, a Z-axis and an R-axis. The base is connected to the frame, the X-axis is installed on the base, the Y-axis is installed on the X-axis, the Z-axis is installed on the Y-axis, the R-axis is installed on the Z-axis, and the R-axis is provided with the fixture.

6. The rubber slice feeding device according to claim 1, characterized in that: The fixture includes a jig plate, a clamp, a suction cup, a guide rod and a cylinder, the guide rod is connected to the jig plate, the cylinder is installed on the jig plate, the output ends of the cylinder are respectively connected to the clamps on both sides, the clamps are movably connected to the guide rod, and the suction cup is installed on the inner side of the clamp.

7. The rubber slice feeding device according to claim 4, characterized in that: The pressure wheel includes an inner rod and an outer wheel sleeve, the outer wheel sleeve is rotatably connected to the inner rod, and threaded holes are provided at both ends of the inner rod. The edge pressing assembly also includes a connecting block, which is installed on the conveyor line frame. The connecting block is provided with a long groove, and the connecting block is provided with an adjusting bolt with a nut passing through the long groove, and the adjusting bolt cooperates with the threaded hole on the inner rod.

8. The rubber slice feeding device according to claim 4, characterized in that: A cavity is arranged in the forming rod, and a plurality of vacuum holes are arranged in the forming rod, and the vacuum holes are communicated with the cavity.

9. The rubber slice feeding device according to claim 4, characterized in that: The connecting frame is provided with a guide rail matched with a slider, a driving pulley and a driven pulley are rotatably connected to the connecting frame, a synchronous belt is wound between the driving pulley and the driven pulley, the connecting frame is provided with a driving motor for driving the driving pulley, the forming rod is installed on the slider, and the forming rod is fixed to the synchronous belt.

10. The rubber slice feeding device according to claim 6, characterized in that: The clamp comprises a clamp rod with spikes at the front end and a spring. The clamp rod is movably connected to the clamp plate. The clamp rod is connected to one end of the spring, and the other end of the spring is connected to the clamp plate.

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