Movable manipulator for rubber production

Abstract

The utility model belongs to the technical field of rubber, and particularly relates to a movable manipulator for rubber production. The movable manipulator lifting frame is located below a hanging bracket, the top of the hanging bracket is slidably connected to a guide rail of the rubber block production line, lifting lead screws are rotationally connected to the left end and the right end of the hanging bracket respectively, screw sleeves are fixedly connected to the left end and the right end of the lifting frame respectively, and the two screw sleeves are connected to the two lifting lead screws in a threaded sleeving mode respectively. The lower end of the lifting screw rod is fixedly connected with a fixed plate; a cylinder A and a cylinder B are movably mounted at the top of the lifting frame, a piston rod of the cylinder A and a piston rod of the cylinder B are opposite in direction and fixedly connected with moving plates respectively, the moving plates are slidably connected with the lifting frame, and grippers are mounted at the front ends and the rear ends of the moving plates respectively. The movable manipulator solves the problems that in the production process of rubber blocks, the labor intensity of manual movement is large, and mechanical equipment is unstable and infirm in movement.

Description

TECHNICAL FIELD

[0001] The utility model belongs to rubber technical field, especially relate to a movable mechanical hand for rubber production. BACKGROUND

[0002] At present, rubber block needs to be manually carried to the conveyor line of internal mixer or to the production line of rubber crusher in the production process, and needs to be moved up and down or horizontally during the movement, the weight of single rubber block reaches 50kg, and there is sometimes a phenomenon of adhesion between rubber blocks, so the labor intensity of workers is large and the work efficiency is low.

[0003] The existing equipment for automatically carrying rubber blocks mostly adopts the mode of vacuum chuck or the mode of mechanical pin to grab rubber blocks, wherein, due to the uneven flatness of the surface of rubber blocks and the certain difference in the external dimensions of different rubber blocks, the vacuum chuck for sucking rubber blocks may fall off in the middle of the process in the actual use process, and the reliability is poor. When the mode of mechanical pin is used to grab rubber blocks, the pin is inserted into the elastomer block to expand a certain angle to realize grabbing, but the extrusion area of the pin to the rubber block is small, and the grabbing force is small, so it is not suitable for grabbing large-area rubber blocks. Moreover, due to the smoothness of the pin, the rubber block is easy to fall off due to inertia during the movement of the rubber block. SUMMARY

[0004] The utility model provides a movable mechanical hand for rubber production, which can realize automatic grabbing and carrying of rubber blocks and movement, and solves the above technical problems.

[0005] The technical scheme of the utility model is as follows:

[0006] A movable mechanical hand for rubber production, comprising a hanging bracket and a lifting frame, the lifting frame is located below the hanging bracket, the top of the hanging bracket is slidably connected to the guide rail of a rubber block production line, lifting lead screws are rotatably connected to the left and right ends of the hanging bracket, silk sleeves are fixedly connected to the left and right ends of the lifting frame, the two silk sleeves are threadedly connected to the outside of the two lifting lead screws, and a fixed plate is fixedly connected to the lower end of the lifting lead screw.

[0007] A cylinder A and a cylinder B are movably installed on the top of the lifting frame, the piston rod of the cylinder A and the piston rod of the cylinder B are opposite in direction, the piston rod of the cylinder A and the piston rod of the cylinder B are fixedly connected with moving plates respectively, the moving plates are slidably connected with the lifting frame, and grippers are installed on the front and rear ends of the moving plates.

[0008] Through the technical scheme, the hanger moves along the guide rail, can drive the lifting frame to move along the rubber production line, so as to move the gripper to the rubber block to be carried, the lifting screw is driven to rotate, can drive the lifting frame to move up and down, so as to drive the gripper to move to the position of the rubber block, the height of the gripper matches the rubber block, so that the gripper can conveniently grab the rubber block.

[0009] Optionally, the top four corners of the hanger are respectively provided with a sliding block A, the sliding block A is slidably connected with two guide rails on the rubber production line, one side of one of the guide rails is provided with a rack, the top of the hanger is fixedly connected with a horizontal plate, the horizontal plate is provided with a horizontal drive motor, the output shaft of the horizontal drive motor is provided with a gear fixedly sleeved, and the gear is engaged with the rack.

[0010] Through the technical scheme, the horizontal drive motor is driven to rotate through the driving gear, and the engagement of the gear and the rack drives the hanger and the lifting frame to move horizontally.

[0011] Optionally, the top of the lifting frame is fixedly connected with two parallel and spaced sliding rails, each sliding rail is slidably connected with two sliding blocks B, the top of each sliding block B is fixedly connected with a moving block, the top of the moving block is fixedly connected with the upper end of the gripper, and the two moving blocks located at the same end of the two sliding rails are fixedly connected with the moving plate.

[0012] Through the technical scheme, the cooperation of the sliding rail and the sliding block B can improve the stability and accuracy of the gripper during movement.

[0013] Optionally, the gripper is vertically arranged, and the lower end of the gripper is hook-shaped.

[0014] Through the technical scheme, the lower end of the gripper is hook-shaped, which can improve the firmness and stability of the gripper in grabbing the rubber block.

[0015] Optionally, the bottom of each of the two moving plates is fixedly connected with a connecting block, and the piston rod of the air cylinder A and the piston rod of the air cylinder B are respectively fixedly connected with the two connecting blocks.

[0016] Through the technical scheme, the connecting block ensures that the air cylinder A and the air cylinder B can stably push the two connecting plates to move towards or away from each other in the horizontal direction.

[0017] Optionally, the hanger is internally provided with a lifting motor, two output shafts of the lifting motor are respectively drivingly connected with speed reducers, the output shafts of the speed reducers are fixedly connected with the upper end of the lifting screw, and the lifting screw is vertically arranged.

[0018] By the technical scheme, the lifting motor adopts a double-output-shaft motor, two output shafts of the lifting motor are connected with two lifting lead screws through speed reducers, one lifting motor can synchronously drive two lifting lead screws to rotate synchronously, the lifting efficiency of the lifting frame is improved, and the stability of the lifting frame during lifting is improved.

[0019] Optionally, the left and right ends of the lifting frame are fixedly connected with support plates, the top of each support plate is vertically movably connected with two guide rods, the upper end of each guide rod is fixedly connected with the bottom of the hanging frame, the lower end of each guide rod is fixedly connected with the fixed plate, a guide sleeve is movably arranged outside each guide rod, and the guide sleeve is fixedly connected with the support plate, each wire sleeve is fixedly connected with two support plates, and the lifting lead screw is located between two adjacent guide rods.

[0020] By the technical scheme, the guide rod can improve the stability of the lifting lead screw during rotation and the stability of the lifting frame during lifting.

[0021] After the technical scheme is adopted, the lifting frame has the following beneficial effects:

[0022] The movable mechanical hand in the utility model realizes horizontal movement of the hanging frame and the lifting frame through a horizontal driving motor, drives four grippers to move in the horizontal direction, synchronously drives two lifting lead screws to rotate through a lifting motor, realizes synchronous driving of the four grippers to ascend and descend, and drives two moving plates to move towards each other through cylinder A and cylinder B, thereby controlling the four grippers to move towards each other, so that the rubber blocks are gripped, the distance between the two moving plates is controlled, the gripping force of the four grippers on the rubber blocks is controlled, the firmness and stability of the rubber block gripping are improved, the labor intensity of manual rubber block carrying is reduced, the firmness and stability of the rubber block gripping are improved through the grippers, and the efficiency and safety of the rubber block movement are improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0024] Figure 1 It is a perspective view of the movable mechanical hand in the embodiment.

[0025] Figure 2 It is Figure 1 The enlarged view of A in the utility model.

[0026] Figure 3 is Figure 1 a front view in figure

[0027] Figure 4 is Figure 1 a left view in figure

[0028] Explanation of reference signs: 1, hanger; 2, lifting frame; 3, horizontal drive motor; 4, horizontal plate; 5, gear; 6, lifting motor; 7, speed reducer; 8, lifting screw; 9, screw sleeve; 10, guide rod; 11, guide sleeve; 12, fixed plate; 13, support plate; 14, air cylinder A; 15, air cylinder B; 16, moving plate; 17, moving block; 18, gripper; 19, sliding block A; 20, sliding block B; 21, sliding rail; 22, connecting block. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0030] The application discloses a movable mechanical hand for rubber production.

[0031] Embodiment

[0032] According to Figures 1 to 4 As shown in figure, a movable mechanical hand for rubber production, including hanger 1, the top four corners of hanger 1 are respectively installed with sliding block A 19, sliding block A 19 is slidably connected with two guide rails on rubber production line, and the side of the guide rail on rubber production line is installed with rack, the top of hanger 1 is fixedly connected with horizontal plate 4, horizontal plate 4 is installed with horizontal drive motor 3, horizontal drive motor 3 is vertically arranged, the output shaft sleeve of horizontal drive motor 3 is fixedly provided with gear 5, gear 5 is engaged with rack, horizontal drive motor 3 rotates through driving gear 5, the engagement of gear 5 and rack makes horizontal drive motor 3 drive hanger 1 move horizontally along the guide rail on rubber production line.

[0033] The lifting frame 2 is arranged below the hanger 1, the lifting frame 2 is arranged in parallel and interval with the hanger 1, the top of the lifting frame 2 is fixedly connected with two parallel and interval arranged sliding rails 21, two sliding blocks B 20 are slidably connected on each sliding rail 21, the top of each sliding block B 20 is fixedly connected with moving block 17 through screw, the top of moving block 17 is fixedly connected with gripper 18 through screw, gripper 18 is vertically arranged, and the lower end of gripper 18 is hook-shaped.

[0034] The inside center of the hanger 1 is provided with a lifting motor 6, which is a double-output-shaft motor, and the two output shafts of the lifting motor 6 are drivingly connected with speed reducers 7, the output shafts of the speed reducers 7 are vertically downward, the output shafts of the speed reducers 7 are provided with lifting lead screws 8, and the lifting lead screws 8 are vertically arranged. The connection mode of the lifting motor 6 and the speed reducers 7 is prior art.

[0035] The top of the lifting frame 2 is movably provided with a cylinder A 14 and a cylinder B 15, the cylinder A 14 and the cylinder B 15 are located between the two slide rails 21 and are arranged in parallel with the slide rails 21, the piston rods of the cylinder A 14 and the cylinder B 15 are located in opposite directions, the top of the two moving blocks 17 at the same end of the two slide rails 21 is fixedly connected with a moving plate 16 through screws, the bottom of the moving plate 16 is fixedly connected with a connecting block 22, and the piston rods of the cylinder A 14 and the cylinder B 15 are fixedly connected with the two connecting blocks 22 respectively.

[0036] The left and right ends of the lifting frame 2 are fixedly connected with support plates 13, the top of each support plate 13 is movably connected with two guide rods 10, the upper ends of the guide rods 10 are fixedly connected with the bottom of the hanger 1, the two guide rods 10 are located on the left and right sides of one of the lifting lead screws 8, the lower ends of the two guide rods 10 are fixedly connected with fixed plates 12, the fixed plates 12 are located below the support plates 13, the lower ends of the lifting lead screws 8 are fixedly connected with the fixed plates 12, the outer sides of the guide rods 10 are sleeved with guide sleeves 11, the guide sleeves 11 are fixedly connected with the support plates 13, the lifting lead screws 8 are externally sleeved with lead sleeves 9, and the lead sleeves 9 are fixedly connected with the support plates 13.

[0037] Working principle:

[0038] When it is necessary to move and carry the rubber blocks, the horizontal drive motor 3 is started, the horizontal drive motor 3 drives the gear 5 to rotate, drives the entire hanger 1 and lifting frame 2 to move along the two guide rails on the rubber production line, and thus moves the grippers 18 to the position where the rubber blocks need to be moved.

[0039] The lifting motor 6 is started, the lifting motor 6 drives the two lifting lead screws 8 to rotate through the two speed reducers 7, the lifting lead screws 8 cooperate with the lead sleeves 9 through rotation, thereby driving the lifting frame 2 to ascend and descend, and thus driving the four grippers 18 to ascend and descend synchronously, so that the position of the grippers 18 matches the height of the rubber blocks that need to be moved.

[0040] The four grippers 18 are in a dispersed state in the initial state, and the piston rods of the cylinder A 14 and the cylinder B 15 are in the extended state, when the grippers 18 need to clamp and move the rubber block, the cylinder A 14 and the cylinder B 15 are started, the piston rods of the cylinder A 14 and the cylinder B 15 drive the two moving plates 16 to move towards each other, the two moving plates 16 drive the two moving blocks 17 on the same slide rail 21 to move towards each other in the process of moving towards each other, and then drive the four grippers 18 to move towards each other, and the four grippers 18 hook the four corners of the rubber block.

[0041] The lifting motor 6 is started in reverse, the rubber block is lifted, the horizontal drive motor 3 is started again, the rubber block is horizontally moved to the corresponding position, the lifting motor 6 is started again, and the rubber block is lowered to the specified position.

[0042] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In the description of the utility model, unless otherwise specified and limited, it is necessary to explain that the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be mechanical connection or electrical connection, and can be the communication between two elements, can be directly connected, or indirectly connected through an intermediate medium, and those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0043] The above is only a preferred embodiment of the utility model, and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A movable robot for rubber production, characterized by: Including a hanger and a lifting frame, the top of the hanger is slidingly connected to the guide rail of the rubber block production line, the left and right ends of the hanger are respectively rotatably connected with lifting lead screws, the left and right ends of the lifting frame are respectively fixedly connected with lead sleeves, the two lead sleeves are respectively threadedly connected to the outside of the two lifting lead screws, and the lower end of the lifting lead screw is fixedly connected with a fixed plate. The top of the lifting frame is movably provided with a cylinder A and a cylinder B, the piston rods of the cylinder A and the cylinder B are opposite in direction, the piston rods of the cylinder A and the cylinder B are respectively fixedly connected with moving plates, the moving plates are slidingly connected with the lifting frame, and the front and rear ends of the moving plates are respectively provided with grippers.

2. The movable robot for rubber production according to claim 1, characterized in that: The top of the hanger is provided with sliding blocks A at four corners, the sliding blocks A are slidingly connected with two guide rails on the rubber production line, one side of one of the guide rails is provided with a rack, the top of the hanger is fixedly connected with a horizontal plate, the horizontal plate is provided with a horizontal drive motor, the output shaft of the horizontal drive motor is fixedly provided with a gear, and the gear is engaged with the rack.

3. The movable robot according to claim 1, wherein: The top of the lifting frame is fixedly connected with two parallel and spaced sliding rails, each sliding rail is slidingly connected with two sliding blocks B, the top of each sliding block B is fixedly connected with a moving block, the top of the moving block is fixedly connected with the upper end of the gripper, and the moving blocks located at the same end of the two sliding rails are fixedly connected with the moving plates.

4. The movable robot according to claim 3, wherein: The gripper is vertically arranged, and the lower end of the gripper is hook-shaped.

5. The movable robot according to claim 1, wherein: The bottoms of the two moving plates are fixedly connected with connecting blocks, and the piston rods of the cylinder A and the cylinder B are respectively fixedly connected with the two connecting blocks.

6. The movable robot according to claim 1, wherein: A lifting motor is installed in the hanger, two output shafts of the lifting motor are respectively drivingly connected with speed reducers, the output shafts of the speed reducers are fixedly connected with the upper ends of the lifting lead screws, and the lifting lead screws are vertically arranged.

7. The movable robot according to claim 1, wherein: The left and right ends of the lifting frame are fixedly connected with support plates, the top of each support plate is vertically movably connected with two guide rods, the upper ends of the guide rods are fixedly connected with the bottom of the hanger, the lower ends of the guide rods are fixedly connected with the fixed plate, guide sleeves are movably arranged on the outer sides of the guide rods, the guide sleeves are fixedly connected with the support plates, the two lead sleeves are respectively fixedly connected with the two support plates, and the lifting lead screws are located between adjacent two guide rods.

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