Integrated film tearing and feeding all-in-one machine

Abstract

The utility model discloses an integrated film tearing and feeding all-in-one machine, and relates to the technical field of automatic feeding and discharging in rubber product production. The integrated film tearing and feeding all-in-one machine comprises an integrated frame, a first manipulator, a second manipulator and a film tearing station, and the first manipulator, the second manipulator and the film tearing station are integrated on the integrated frame; the film tearing station is located below the first mechanical arm, the first mechanical arm comprises a first cross beam piece and a first downward extending connecting piece, the lower end of the first downward extending connecting piece can ascend and descend, and a first picking device is carried on the liftable part of the lower end of the first downward extending connecting piece; the second mechanical arm comprises a cantilever part and a second picking device, the cantilever part slides relative to the integrated frame, and the second picking device is carried on the cantilever part and can ascend and descend. The device has the beneficial effect of being beneficial to saving the field area.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic loading and unloading of rubber product production, in particular to an integrated film tearing and loading machine. Background Art

[0002] Rectangular raw rubber sheets are an important raw material for processing some rubber products, such as bottle stoppers in the pharmaceutical industry. During the product processing process, the raw rubber sheets need to be sent to a vulcanizer for vulcanization. After vulcanization is complete, they need to be removed from the vulcanizer in one piece. The raw rubber sheet materials are stacked in piles, and the stacks are stacked in the order of "film, protective film, film, protective film...film, protective film." The length of the protective film is greater than the length of the rubber sheet, and the width of the protective film is greater than the width of the rubber sheet. In other words, the length ends of the protective film extend beyond the length ends of the rubber sheet, and the width ends of the protective film extend beyond the width ends of the rubber sheet. When removing the material from the pile, the protective film is easy to separate from the rubber sheet below it, but it is difficult to separate directly from the rubber sheet above it. The rubber sheet entering the vulcanizer cannot have a protective film.

[0003] The Chinese utility patent application number is 202221843721.5, and the name is “A Vulcanization System”. It can realize the functions of taking rubber sheets from the raw material pile, tearing the film, feeding the rubber sheets to the vulcanizer, and taking the rubber sheets from the vulcanizer. However, it has the following technical problems: the principle of realizing its functions is to arrange multiple corresponding workbenches and manipulators in the production workshop to carry out the work. In terms of floor space, its solution occupies a large area. In terms of the connection between the equipment manufacturer and the equipment user, the time period for assembling and debugging the equipment in the vulcanization production workshop will be very long. This is especially for the upgrading and transformation of old production lines (vulcanizers are old equipment). Rubber product manufacturers need to stop production for a long time, which is not conducive to fully utilizing production efficiency. Utility Model Content

[0004] The purpose of the utility model is to provide an integrated film tearing and loading machine to solve the technical problem in the prior art that the system for loading and unloading rubber sheets in a production site using rubber sheets as raw materials occupies a large area.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] An integrated film tearing and loading machine includes an integrated frame, a first manipulator, a second manipulator, and a film tearing station, wherein the first manipulator, the second manipulator, and the film tearing station are integrated into the integrated frame;

[0007] The film tearing station is located below the first manipulator, which includes a first crossbeam and a first lower extension connecting member. The lower end of the first lower extension connecting member can be raised and lowered. The lower end of the first lower extension connecting member that can be raised and lowered is equipped with a first picking device. The first manipulator is used to drive the first picking device to move horizontally and rise and fall above the film tearing station.

[0008] The second manipulator includes a cantilever and a second picking device. The cantilever slides relative to the integrated frame. The second picking device is mounted on the cantilever. The second picking device can be raised and lowered.

[0009] The beneficial effect is that the first manipulator, the second manipulator and the film tearing station are integrated into the integrated frame, which is conducive to transporting the entire device to the rubber production workshop after assembly and debugging in the equipment production plant, shortening the assembly and debugging time in the rubber production workshop, and is particularly convenient for upgrading and transforming old production lines. The first manipulator includes a first crossbeam and a first lower extension connection; the second manipulator includes a cantilever and a second picking device; the film tearing station is located below the first manipulator. This structure and spatial layout are conducive to making full use of the height space, reducing the flat area occupied by the factory floor, and improving the utilization rate of the factory. The structure of the first and second manipulators is conducive to saving its floor space while ensuring that the operating area is covered. The integrated frame also helps to reduce the difficulty of safety protection - by setting baffles or protective nets around it, the corresponding protection work can be achieved.

[0010] Furthermore, the first pickup device includes a first negative pressure suction head and a first clamping mechanism. This has the advantage that, when removing a rubber sheet from a stockpile, the protective film is first picked up by the negative pressure suction head, and after the protective film is pulled up and separated from the underlying rubber sheet, the protective film is then clamped by the first clamping mechanism, ensuring the force required to "tear the rubber sheet" from the stockpile, which is more conducive to ensuring the success rate of material removal.

[0011] Furthermore, the second picking device includes a second negative pressure suction head and a second clamping claw mechanism. The advantage is that when picking up the rubber sheet after the film is torn off, it can be picked up only by the second negative pressure suction head. However, when removing the vulcanized rubber sheet from the vulcanizer, there is a certain degree of stickiness between the rubber sheet and the vulcanizer mold. First, use the second clamping claw mechanism to "pinch" a part of the rubber sheet, and then, through the second manipulator, "tear off a section" to get rid of the stickiness of the section; then, lay the film flat again, suck the negative pressure suction head on the rubber sheet, and the second clamping claw mechanism clamps on the section that has just been torn, thereby helping to improve the success rate of taking materials out of the vulcanizer.

[0012] Furthermore, a film stacking device is provided in the frame, which has the advantage of providing a stacking position for film materials.

[0013] Furthermore, the film stacking device includes a lifting platform and a lifting drive mechanism for driving the lifting platform up and down. Advantageously, as the rubber sheets are loaded, the stack is gradually consumed, and the lifting platform gradually rises. This rise helps maintain the lifting range of the first manipulator when retrieving the materials, reduces the guide height requirement or cylinder stroke requirement associated with the lifting of the first manipulator, and further helps save space.

[0014] Furthermore, the cantilever member comprises at least two cantilever units that are slidably connected in sequence, and the second pickup device is mounted on the cantilever unit located at the outermost end. This has the advantage of facilitating the "shrinkage" of the cantilever unit and further reducing the size requirement of the integrated frame.

[0015] Furthermore, the first crossbeam is fixedly connected to the integrated frame, and the second manipulator includes a second crossbeam, which is fixedly connected to the integrated frame and parallel to the first crossbeam. A second lower extension is slidably connected to the second crossbeam, and the second lower extension can move laterally along the first crossbeam. The cantilever is mounted on the lower portion of the second lower extension. This has the advantage of improving space utilization while ensuring that the second manipulator's movements cover its operating area.

[0016] Furthermore, the lower end of the second lower extension member can be raised and lowered, and the cantilever member is mounted on the raise and lowered portion of the second lower extension member. This has the advantage that the cantilever member can be extended from the integrated frame into the vulcanizer and can also be retracted into the integrated frame.

[0017] Furthermore, a multifunctional workbench is provided below the first manipulator and below the second manipulator. The multifunctional workbench includes a table, a support frame, and a base frame. The table top is rotatably connected to the top of the support frame. A driving device for driving the table top to rotate is provided between the support frame and the table top. The lower end of the support frame is slidably connected to the base frame. The support frame can move longitudinally on the base frame, and the base frame is fixed to the integrated frame. Its advantage is that the table top of the multifunctional workbench can be used as a "film tearing station". The multifunctional workbench is conducive to laying two pieces of film and is suitable for the working condition of vulcanizing two flat films in one vulcanizer. This structure of the multifunctional workbench is conducive to improving the layout area utilization rate. After the two pieces of rubber are torn off, the support frame drives the table top to slide below the range of action of the second manipulator. At this time, the table top is in the loading preparation station. The second manipulator picks up the two rubber sheets that are placed side by side and have torn off the film and then delivers them to the vulcanizer. Therefore, the multifunctional workbench can be used as a film tearing station and as a loading preparation station, which further helps to save space.

[0018] Furthermore, a pressing device is connected to the integrated frame and can be used to press the film located at the film tearing station. This has the advantage that, at the beginning of film tearing at the film tearing station, after one end of the film is lifted a certain distance, the film and the adhesive are slightly separated, and then the pressing device is used to press the exposed end of the film, thereby increasing the overall success rate of the subsequent film tearing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0020] Figure 2 This is the internal layout diagram of the integrated framework;

[0021] Figure 3 is a schematic diagram of the main view of the first manipulator;

[0022] Figure 4 1 is a schematic diagram of a first manipulator viewed from above;

[0023] Figure 5 is a right side schematic diagram of the first manipulator;

[0024] Figure 6 is a schematic diagram of the main view of the second manipulator;

[0025] Figure 7 Schematic diagram of the second manipulator viewed from above;

[0026] Figure 8 is a three-dimensional schematic diagram of a film stacking device;

[0027] Figure 9 It is a three-dimensional schematic diagram of a multifunctional workbench;

[0028] Figure 10 is a three-dimensional schematic diagram of a pressing device;

[0029] In the figure: 1 integrated frame, 2 first manipulator, 21 first crossbeam, 22 first lower extension connecting member, 23 first negative pressure suction head, 24 first clamping mechanism, 25 first connecting member, 26 first slide, 27 first slide rail, 28 rack, 3 second manipulator, 31 second negative pressure suction head, 32 second clamping mechanism, 33 first section cantilever unit, 331 second section cantilever unit, 332 third section cantilever unit, 34 second crossbeam, 35 second lower extension member, 36 second slide, 37 second connecting member, 4 protective plate, 5 film stacking device, 51 lifting platform, 52 bottom frame, 53 right angle plate, 54 guide plate, 55 stand, 56 screw rod, 57 connecting ear plate, 6 pressing device, 61 pressing head, 7 multi-functional workbench, 71 table top, 72 support frame, 73 bottom frame. DETAILED DESCRIPTION

[0030] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions 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 embodiments described 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 efforts shall fall within the scope of protection of the present invention.

[0031] like Figure 1 and Figure 2 As shown, the integrated film tearing and loading machine includes an integrated frame 1, a first robot 2, a second robot 3, and a film tearing station. The first robot 2, second robot 3, and film tearing station are integrated into the integrated frame 1. The film tearing station is located below the first robot 2. The integrated frame 1 has a rectangular frame structure. In addition to the necessary access openings / windows, the integrated frame 1 is equipped with a protective plate 4. The protective plate 4 is used for safety protection and also provides a certain degree of dust protection.

[0032] like Figures 3 to 5As shown, the first manipulator 2 includes a first crossbeam 21 and a first lower extension connector 22. The first crossbeam 21 is fixedly connected to the integrated frame, and a first connector 25 is provided at each end of the first crossbeam 21. Each first connector 25 is fixedly connected to the integrated frame by a bolt group. The lower end of the first lower extension connector 22 can be raised and lowered; a vertical cylinder is provided and a guide rod group is configured to serve as the first lower extension connector 22, and the lower end of the cylinder action shaft is the lower end of the first lower extension connector 22. The lower end of the first lower extension connector 22 that can be raised and lowered is equipped with a first picking device, and the first manipulator 2 is used to drive the first picking device to move horizontally and raise and lower above the film tearing station. The upper end of the first lower extending connecting member 22 is connected to the first slide 26, and two first slide rails 27 parallel to each other are arranged on the first crossbeam 21. A slide seat for cooperating with the first slide rails 27 is provided on the first slide 26, and then the first slide 26 is slidably connected to the first crossbeam 21; a rack 28 is provided on the first crossbeam 21, and the rack 28 is arranged in a direction parallel to the first slide rail 27. The rack 28 engages with a gear, and the gear is connected to a rotation driver (a motor plus a reduction gear box that can self-lock when stopped can be used) for driving the gear to rotate. The rotation driver is mounted on the first slide, and then used to drive the lateral movement of the first slide 26. The first pickup device includes a first negative pressure suction head 23 and a first clamping mechanism 24. Four first negative pressure pickup heads 23 are provided, and two pairs of first clamping mechanisms 24 are provided. The first clamping mechanisms 24 are pneumatically operated. Two first negative pressure pickup heads 23 form a group, and the two groups of negative pressure pickup heads 23 are distributed longitudinally (relative to the transverse direction mentioned in the text). The two pairs of first clamping mechanisms 24 are distributed longitudinally, and the two pairs of first clamping mechanisms 24 are located between the two groups of first negative pressure suction heads 23. The orientation angle of the first negative pressure suction heads 23 is adjustable - a carrying frame is provided on the first lower extending connecting member 22. The carrying frame is used to carry the negative pressure suction heads 23. Each first negative pressure suction head 23 is connected to the carrying frame by two bolts. The carrying frame is provided with an arc-shaped hole, which is used to pass the bolt used to connect the first negative pressure suction head. After the bolt is loosened, the orientation angle of the first negative pressure suction head 23 can be adjusted. After the adjustment is completed, the corresponding bolt is tightened.

[0033] like Figure 1As shown in Figure 2, the working process of the present invention is that the first manipulator 2 is used to drag a piece of rubber sheet from the material pile to the film tearing station. When dragging, the protective film under the rubber sheet (the part extending beyond the length and width of the rubber sheet) is picked up from the far end, and then the protective film is dragged laterally; in this way, since the protective film is flexible, under the action of the gravity of the rubber sheet, after the dragging is completed, the rubber sheet is turned over, and the protective film stuck underneath it is facing upward. Then, the first manipulator 2 "picks up the protective film" and moves laterally in the opposite direction to tear the protective film off the rubber sheet. The second manipulator 3 is used to deliver the rubber sheet after film tearing from the loading preparation station to the vulcanizer. After vulcanization is completed, it is taken out of the vulcanizer by the second manipulator 3.

[0034] like Figure 6 and Figure 7 As shown, the second manipulator 3 includes a cantilever and a second picking device. The second picking device includes a second negative pressure suction head 31 and a second clamping claw mechanism 32. The cantilever slides relative to the integrated frame, and the second picking device is mounted on the cantilever, and the second picking device can be raised and lowered. The lower end of the second lower extension 35 can be raised and lowered, and the cantilever is mounted on the liftable portion of the second lower extension 35. The cantilever includes at least two sections of cantilever units that are slidably connected in sequence, and the second picking device is mounted on the cantilever unit located at the outermost end; in this embodiment, a total of three sections of cantilever units are provided, namely the first section cantilever unit 33, the second section cantilever unit 331, and the third section cantilever unit 332. This is an optimal embodiment, and a driving cylinder is provided between each of the two adjacent sections of the cantilever units, and then the relative sliding between the cantilever units is controlled by the corresponding driving cylinder, which is used for the extension or contraction of the cantilever as a whole. The second manipulator 3 includes a second crossbeam 34, which is fixedly attached to the integrated frame 1. Second connectors 37 are provided at each end of the second crossbeam 34. These connectors 37 are removably bolted to the integrated frame, thereby securing the second crossbeam. The second crossbeam 34 is parallel to the first crossbeam 21. A second lower extension 35 is slidably connected to the second crossbeam 34, capable of moving laterally along the first crossbeam 21. A cantilever is mounted below the second lower extension 35. The second lower extension 35 is comprised of a vertically mounted cylinder equipped with a guide rod assembly and a second carriage 36 for carrying the cylinder. The second carriage 36 is connected to a synchronous belt, which is driven by a motor to rotate and thereby drive the second carriage 36 to slide. The lower end of the cylinder's actuating shaft forms the lower end of the second lower extension 35. The second carriage 36 is slidably connected to the second crossbeam 34.

[0035] like Figure 1 As shown, a film stacking device 5 is provided in the integrated frame. The film stacking device is used to stack the rubber sheet material pile to be used.

[0036] like Figure 2and Figure 8 As shown, the film stacking device 5 includes a lifting platform 51 and a lifting drive mechanism for driving the lifting platform up and down. The lifting drive mechanism comprises a vertical frame 55, two vertical guide rails mounted on the vertical frame 55, a slider that cooperates with the two vertical guide rails and is connected to the lifting platform 51, a nut connected to the lifting platform 51, a screw 56 that cooperates with the nut and is rotationally connected to the vertical frame 55, and a motor for driving the screw 56. The vertical frame 55 is fixedly connected to the base frame 52. The base frame 52 is provided with a connecting lug 57, which is bolted to the bottom of the integrated frame and serves to connect the film stacking device 5 to the integrated frame. The film stacking device also includes two right-angled gussets 53 and two guide plates 54. The guide plates 54 have vertical lower ends and outwardly flared upper ends. The lower ends of the right-angled plates 53 and the lower ends of the guide plates 54 are fixedly connected to the base frame 52. The lifting platform 51 is used for stacking films. As the film is taken out, the lifting platform 51 gradually rises to facilitate the maintenance of the film taking stroke. Two right-angled angle plates 53 and two guide plates 54 are used to limit the film stack.

[0037] like Figure 2 and Figure 9 As shown, a multifunctional workbench 7 is provided below the first manipulator 2 and below the second manipulator 3. The multifunctional workbench 7 includes a tabletop 71, a support frame 72, and a base frame 73. The tabletop 71 is rotatably connected to the top of the support frame 72, and a driving device for driving the tabletop 71 to rotate is provided between the support frame 72 and the tabletop 71. The lower end of the support frame 72 is slidably connected to the base frame 73. The support frame 72 can move longitudinally on the base frame 73, and this longitudinal movement is guided by a slide rail provided on the base frame 73 and a slider provided at the bottom of the support frame 72 in cooperation with the slide rail. This longitudinal movement is driven and transmitted by a motor provided on the support frame 72, a gear provided on the motor, and a rack provided longitudinally on the base frame 73 and in cooperation with the gear. The base frame 73 is fixedly connected to the integrated frame, and the bottom of the base frame 73 is fixedly connected to the bottom of the integrated frame. The process of laying two sheets of raw rubber on the table is as follows: first, one side of the table 7 is slid to the bottom of the action range of the first manipulator 2 through the support frame, and the first manipulator 2 completes the film tearing work of the first sheet; then, the support frame 72 moves in the opposite direction to make the table away from the edge of the integrated frame to make room for the table to rotate, and then the table rotates 180 degrees, and the support frame slides back to make the opposite side of the table (unloaded) located below the action range of the first manipulator, and then the first manipulator 2 performs the placement and film tearing work of the second rubber sheet. After the two rubber sheets are placed and the film tearing is completed, the two rubber sheets are sent to the vulcanizer by the second manipulator 3.

[0038] like Figure 2 and Figure 9As shown, the integrated frame is connected with a pressing device, which is used for pressing the film located on the film tearing station, and the pressing position is the edge of the film. The pressing device comprises a pressing cylinder 62 and a pressing head 61 connected to the action shaft end of the pressing cylinder. The pressing cylinder 62 is provided with a guide rod group. The pressing head 61 comprises a flat portion and a raised portion at two ends. The bottom of the pressing head 61 is connected with an elastic gasket 63, which is connected to the bottom of the flat portion and extends downward to the lower side of the raised portion. The upper end of the pressing cylinder 62 is provided with a third connecting piece 64. The third connecting piece 64 is fixedly connected to the integrated frame. The pressing head is arranged downward, and when the table top moves to the film tearing station, the table top is located below the pressing head.

Claims

1. The integrated film tearing and loading machine is characterized by: It includes an integrated frame, a first manipulator, a second manipulator and a film-tearing station, wherein the first manipulator, the second manipulator and the film-tearing station are integrated into the integrated frame; The film tearing station is located below the first manipulator, which includes a first crossbeam and a first lower extension connecting member. The lower end of the first lower extension connecting member can be raised and lowered. The lower end of the first lower extension connecting member that can be raised and lowered is equipped with a first picking device. The first manipulator is used to drive the first picking device to move horizontally and rise and fall above the film tearing station. The second manipulator includes a cantilever and a second picking device. The cantilever slides relative to the integrated frame. The second picking device is mounted on the cantilever. The second picking device can be raised and lowered.

2. The integrated film tearing and loading machine according to claim 1 is characterized in that: The first picking device includes a first negative pressure suction head and a first clamping mechanism.

3. The integrated film tearing and loading machine according to claim 1 is characterized in that: The second picking device includes a second negative pressure suction head and a second clamping mechanism.

4. The integrated film tearing and loading machine according to claim 1 is characterized in that: A film stacking device is provided in the integrated frame.

5. The integrated film tearing and loading machine according to claim 4 is characterized in that: The film stacking device comprises a lifting platform and a lifting driving mechanism for driving the lifting platform to move up and down.

6. The integrated film tearing and loading machine according to claim 1 is characterized in that: The cantilever member includes at least two cantilever units that are slidably connected in sequence, and the second picking device is mounted on the cantilever unit located at the outermost end.

7. The integrated film tearing and loading machine according to claim 1 is characterized in that: The first crossbeam is fixedly connected to the integrated frame, the second manipulator includes a second crossbeam, the second crossbeam is fixedly connected to the integrated frame, the second crossbeam is parallel to the first crossbeam, a second lower extension is slidably connected to the second crossbeam, the second lower extension can move laterally along the first crossbeam, and the cantilever is mounted on the lower part of the second lower extension.

8. The integrated film tearing and loading machine according to claim 7 is characterized in that: The lower end of the second lower extension member can be raised and lowered, and the cantilever member is carried on the raise and lowerable portion of the second lower extension member.

9. The integrated film tearing and loading machine according to claim 7 or 8, characterized in that: A multifunctional workbench is provided below the first manipulator and below the second manipulator. The multifunctional workbench includes a table top, a support frame and a base frame. The table top is rotatably connected to the top of the support frame. A driving device for driving the table top to rotate is provided between the support frame and the table top. The lower end of the support frame is slidably connected to the base frame. The support frame can move longitudinally on the base frame. The base frame is fixedly connected to the integrated frame.

10. The integrated film tearing and loading machine according to claim 1, characterized in that: A pressing device is connected to the integrated frame, and the pressing device can be used to press the film located on the film tearing station.

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