Composite robot device for spraying separant on vulcanizing machine

Abstract

The utility model belongs to the technical field of vulcanization pretreatment procedures, and particularly relates to a composite robot device for spraying a separant on a vulcanizing machine, which is characterized in that a storage box is arranged at the upper end of an AGV (Automatic Guided Vehicle) body, a mounting groove is formed in the front end of the AGV body, a folding vertical frame is arranged in the mounting groove, a mechanical arm is arranged on the folding vertical frame, and a spray gun is arranged at the output end of the mechanical arm; an air compressor and a pressure tank are arranged in the storage box; the production efficiency and the automation level are improved, manual work is replaced by automatic operation, the spraying quality and accuracy are improved, the use amount of a separant is accurately controlled, the safety and stability of equipment are enhanced, the anti-collision function and the environment sensing function are achieved, the workshop environment and space utilization are optimized, and personnel walking and occupied space are reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of the vulcanization pretreatment process, concretely is a kind of vulcanizing machine spraying release agent composite robot device. BACKGROUND

[0002] In the current domestic tire manufacturing field, tire vulcanization is a very critical production process. Before tire vulcanization, in order to effectively prevent the adhesion phenomenon of tire and vulcanization mold during high temperature vulcanization process, each tire manufacturer will generally perform release agent treatment operation on the inner opening of the vulcanization mold and the surface of the center balloon. However, the current operation process mainly relies on manual operation, which has caused many problems.

[0003] Firstly, after the vulcanization mold undergoes high temperature vulcanization process, a large amount of heat energy will accumulate and remain inside. Since the heat cannot be dissipated quickly in a short time, this makes the workers face a very unfavorable working environment during subsequent operation. High temperature not only brings strong heat discomfort to workers, increases the fatigue of workers, but also may cause potential harm to the health of workers in long-term high-temperature environment, such as increasing the risk of heat stroke, skin burns, etc. At the same time, it will also affect the accuracy and stability of worker operation to a certain extent, thereby indirectly affecting the overall production quality.

[0004] Secondly, when performing release agent spraying operation, the manual operation method usually uses a towel to dip the release agent and then wipes the vulcanization mold and center balloon, and then needs to blow dry the surface. This traditional operation mode has obvious disadvantages. First of all, the operation time is too long, which greatly reduces the production efficiency. From dipping release agent to detailed wiping to blowing dry surface, each link needs to consume a lot of time, and the connection between each link is not compact and efficient. Secondly, it is difficult to accurately control the amount of release agent by manual operation. In the actual operation process, due to the differences in individual operation habits and experience of workers, there are often cases of too much or too little release agent. When the amount of release agent is too much, too much release agent impurities may remain after tire vulcanization, affecting the appearance quality and subsequent use performance of the tire; while the amount is too little, it cannot effectively achieve the purpose of isolating the adhesion of tire and mold, resulting in tire defects or even waste products, increasing production cost.

[0005] Thirdly, the space layout of the vulcanization workshop is generally wide. In the manual operation mode, the workers need to frequently walk back and forth in a large workshop to complete the release agent treatment work of different molds and center balloons. This not only causes a lot of time waste, but also seriously hinders the progress of tire production towards automation and intelligence in the context of the increasing popularity of automation. It is not conducive to building an efficient, continuous and stable automated production line, and limits the development potential of tire production enterprises to further improve production efficiency, reduce production cost and improve product quality stability.

[0006] In summary, the existing manual operation mode of the tire manufacturers in China for the release agent treatment of the inner port of the vulcanizing mold and the center balloon before tire vulcanization has obvious deficiencies in the worker's working environment, production efficiency, release agent dosage control and automation production adaptability, and an innovative solution is urgently needed to improve it.

[0007] Therefore, the utility model designs a vulcanizing machine spraying release agent composite robot device to solve the above technical problems. Utility model content

[0008] In view of the deficiencies of the prior art, the utility model aims to provide a vulcanizing machine spraying release agent composite robot device, which solves the technical problem that the existing manual operation mode of the tire manufacturers in China for the release agent treatment of the inner port of the vulcanizing mold and the center balloon before tire vulcanization has obvious deficiencies in the worker's working environment, production efficiency, release agent dosage control and automation production adaptability.

[0009] The utility model adopts the scheme of a vulcanizing machine spraying release agent composite robot device, which comprises an AGV car body, characterized by:

[0010] The AGV car body is provided with a storage box at the upper end and a mounting groove at the front end, the mounting groove is provided with a folding stand, the folding stand is provided with a mechanical arm at the upper end, and the mechanical arm is provided with a spray gun at the output end.

[0011] The storage box is provided with an air compressor and a pressure tank.

[0012] Preferably, the folding stand comprises a fixed bottom plate mounted in the mounting groove, the fixed bottom plate is hinged with a supporting column, the supporting column is hinged with a supporting cross beam, and the fixed bottom plate, the supporting column and the supporting cross beam are all provided with telescopic components, and the supporting cross beam is provided with a range sensor.

[0013] Preferably, the telescopic component comprises two groups of electric telescopic rods, and the fixed bottom plate, the supporting column and the supporting cross beam are all hinged with electric telescopic rods.

[0014] Preferably, the range sensor is a 3D anti-collision radar.

[0015] Preferably, the folding stand is located at the center of the AGV body.

[0016] Preferably, the storage box is provided with a mounting cavity corresponding to the air compressor and the pressure tank, and the mounting cavity is provided with a clamp corresponding to the air compressor and the pressure tank.

[0017] Preferably, the AGV body is provided with a stand, and the upper end of the stand is provided with a detection radar.

[0018] Preferably, the stand is higher than the storage box.

[0019] Compared with the prior art, the application has the following advantages:

[0020] I. Improve production efficiency and automation level, replace manual operation with automatic operation: By adopting the AGV body carrying related equipment and the mechanical arm cooperative operation mode, the traditional manual operation mode for tire vulcanization front isolating agent spraying is changed, the manual operation link is reduced, a large amount of time consumed by manual operation is saved, the spraying task can be efficiently completed between the vulcanizing machines, and the overall production efficiency is greatly improved, which promotes the development of tire production towards automation.

[0021] II. Improve spraying quality and precision, accurately control the amount of isolating agent: The spray gun, air compressor and pressure tank cooperate with each other, the pressure of the pressure tank is stabilized, and the high-precision flow control system of the spray gun is used to accurately adjust the spraying flow of the isolating agent, which avoids the problem that the amount of isolating agent is difficult to control in traditional manual operation, so that the isolating agent can be uniformly and appropriately sprayed on the inner port and center balloon of the vulcanizing machine mold, forming a good isolation effect and ensuring the quality of tire products.

[0022] Flexible and accurate spraying path: The mechanical arm has six degrees of freedom, can plan the optimal spraying path according to the shape and size of different vulcanizing machine molds, and can realize all-around and dead-angle-free spraying operation. Compared with manual operation, the required protection parts can be more accurately covered, and the spraying quality is further improved.

[0023] III. Enhance the safety and stability of the equipment, prevent collision and have environmental perception function: The 3D anti-collision radar on the folding stand can monitor the surrounding obstacles in real time, and once a danger is detected, it can feedback to the control system in time to take measures to avoid collision accidents. The detection radar carried by the stand higher than the storage box on the AGV body can perceive the road conditions and obstacles at a long distance in advance, and assist the AGV body in safe navigation, which together ensures the safety of the whole device running in a complex workshop environment.

[0024] Stable equipment installation and layout: the folding stand is matched through ingenious hinge and telescopic assembly between each part, which realizes folding storage to save space and stable support of mechanical arm operation when unfolded; the air compressor and pressure tank are stably installed in the storage box through the installation cavity and the clamp, and the folding stand is located at the center of the AGV vehicle body to keep the gravity stable, which ensures the stability of the equipment during movement and operation and reduces the operation risk caused by shaking, displacement and other factors.

[0025] Four, optimize the workshop environment and space utilization, reduce personnel walking and space occupation: the AGV vehicle body automatically navigates and moves, without manual walking and transporting equipment in the workshop, avoiding the confusion and time waste of personnel activities in the workshop; the folding property of the folding stand minimizes the space occupation of the device when not working, so that the workshop space utilization is more reasonable and efficient, which is beneficial to the overall workshop layout and other production activities. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 is a perspective view of the utility model.

[0027] Fig. 2 is a perspective view of the utility model.

[0028] Fig. 3 is a perspective view of the folding stand of the utility model.

[0029] Reference signs: 1, AGV vehicle body; 2, storage box; 3, installation groove; 4, folding stand; 5, mechanical arm; 6, air compressor; 7, pressure tank; 8, fixed bottom plate; 9, support column; 10, support beam; 11, range sensor; 12, electric telescopic rod; 13, installation cavity; 14, clamp; 15, stand; 16, detection radar. DETAILED DESCRIPTION

[0030] The foregoing and other technical contents, features and effects of the utility model will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. Figs. 1-3 The structure contents mentioned in the following embodiments are all referred to the drawings.

[0031] The exemplary embodiments of the utility model will be described below with reference to the accompanying drawings.

[0032] Embodiment one, a vulcanizing machine spraying isolating agent composite robot device, comprising: AGV car body 1. AGV car body 1 as the moving base of the whole device, has high flexibility and mobility, which can move accurately according to the preset path or real-time instruction in the complex environment of the vulcanizing workshop, thereby effectively reducing the time and labor cost consumed by manual handling equipment, and greatly improving the logistics transportation efficiency and automation level in the production process.

[0033] The upper end of the AGV car body 1 is provided with a storage box 2, which provides a safe and convenient storage space for the core component of the device. The storage box 2 is made of high-strength, corrosion-resistant material, has good sealing and protection performance, and can effectively resist the erosion of dust, moisture and various chemicals that may exist in the workshop, ensuring that the internal storage equipment is always in a stable and reliable operating state. And the front end is provided with a mounting groove 3, which ensures the compactness of the overall structure while providing a stable foundation platform and accurate positioning reference for the installation of subsequent equipment.

[0034] The mounting groove 3 is provided with a folding stand 4, which adopts a delicate mechanical structure design and can be folded and stored in the mounting groove 3 in the initial state, thereby minimizing the overall occupied space of the device and facilitating the movement and passage of the AGV car body 1 in the workshop. When isolating agent spraying operation is needed, the folding stand 4 can be quickly unfolded and raised to the predetermined working height according to the control instruction, and the unfolding process is stable, fast and accurate, with reliable mechanical locking mechanism to ensure that it does not shake or displace during operation.

[0035] The folding stand 4 is provided with a mechanical arm 5, which is the core executive component of the whole spraying operation. It has six degrees of freedom of movement, can realize extremely flexible and accurate motion trajectory planning and control in three-dimensional space. Its joint part adopts high-precision servo motor and speed reducer combination to ensure high speed, high resolution and high repeatability precision of movement. Through advanced motion control algorithm and programming technology, the mechanical arm 5 can automatically generate the most optimized spraying path and action sequence according to the shape, size and position information of different vulcanizing machine molds, so as to realize all-round and dead-angle-free isolating agent spraying operation on the inner port and center balloon of the vulcanizing machine mold.

[0036] The output end of the mechanical arm 5 is provided with a spray gun, which adopts a professional atomizing nozzle design and can uniformly atomize the release agent into fine particles, ensuring that the release agent can be uniformly attached to the surface of the mold during spraying to form a thin and uniform release film. The flow control system of the spray gun has high precision adjustment capability and can accurately control the spraying flow of the release agent according to actual operation requirements, effectively solving the problem of difficult control of the amount of release agent in traditional manual operation. At the same time, the spray gun is also equipped with automatic cleaning and anti-clogging functions, which can automatically clean after each spraying operation to prevent residual release agent from solidifying and clogging the nozzle, ensuring long-term stable operation of the spray gun.

[0037] The air compressor 6 in the storage box 2 serves as a power source and can provide stable and continuous compressed air for the entire spraying system. It adopts an energy-efficient motor and advanced compression technology, with the characteristics of low noise, small vibration, large gas production and stable pressure. The pressure tank 7 is used to store compressed air and plays a buffering and pressure stabilizing role. Through the pressure stabilizing function of the pressure tank 7, the unstable phenomenon of the spray gun caused by the fluctuation of the air supply pressure of the air compressor 6 can be effectively avoided, ensuring that the release agent can always be sprayed at a constant pressure and flow, further improving the spraying quality and the reliability of the operation.

[0038] In summary, this vulcanizing machine spraying release agent composite robot device effectively solves many problems existing in the traditional tire vulcanization before the release agent spraying operation through the close cooperation and organic integration between the components, greatly improves the production efficiency, product quality and automation level in the tire manufacturing process, and has a broad application prospect and significant economic benefits.

[0039] In some embodiments, the folding stand 4 includes a fixed bottom plate 8 mounted in the mounting groove 3, which serves as the basic support structure of the entire folding stand 4 and is tightly fitted with the mounting groove 3 of the AGV body 1 and fixed reliably by high-strength bolts, ensuring stable installation posture under various working conditions. The fixed bottom plate 8 is hinged with a support column 9, which adopts a precise hinge connection mechanism with high bearing capacity and low friction coefficient, so that the support column 9 can flexibly rotate relative to the fixed bottom plate 8. The support column 9 is hinged with a support beam 10, and the same hinge design ensures that the support beam 10 can realize smooth angle adjustment relative to the support column 9 in a certain plane. Between the fixed bottom plate 8 and the support column 9 and the support column 9 and the support beam 10, there are telescopic components, which play a key role in realizing the folding and unfolding functions of the folding stand 4.

[0040] In some embodiments, the telescopic assembly includes two sets of electric telescopic rods 12, which are hinged between the fixed base plate 8 and the support column 9, and between the support column 9 and the support beam 10. The electric telescopic rods 12 are selected from a type with high-precision position feedback and strong driving force. The motor drive system inside the electric telescopic rods 12 adopts advanced closed-loop control technology, which can accurately control the telescopic length of the telescopic rods, thereby accurately adjusting the angle and positional relationship between the support column 9 and the support beam 10. When it is necessary to unfold the folding stand 4, the electric telescopic rods 12 are sequentially elongated according to the preset program, pushing the support column 9 to gradually stand up and driving the support beam 10 to rise to the working height. In the folding process, the electric telescopic rods 12 are sequentially retracted, so that each component is stably returned to the original position.

[0041] In some embodiments, the range sensor 11 is a 3D anti-collision radar. The 3D anti-collision radar is installed at a specific position on the support beam 10, which adopts advanced laser scanning technology and high-speed signal processing algorithm, and can perform real-time scanning and monitoring on the three-dimensional space around the folding stand 4. Its monitoring range covers a certain radius area centered on the folding stand 4, and can accurately identify any obstacles in the area, including other equipment, personnel or structural parts in the workshop, etc. Once it is detected that an obstacle enters the preset safety distance range, the 3D anti-collision radar will immediately send an alarm signal to the control system and provide detailed information such as the position, speed and shape of the obstacle, so that the control system can take corresponding obstacle avoidance measures in time, such as pausing the action of the folding stand 4 or adjusting the driving path of the AGV vehicle body 1, thereby effectively ensuring the safety of the entire device during operation.

[0042] In some embodiments, the folding stand 4 is located at the center position of the AGV vehicle body 1. Such a layout design helps to keep the center of gravity of the AGV vehicle body 1 stable during movement, reducing the risk of body sway or imbalance caused by the deviation of the center of gravity. At the same time, the layout at the center position is also conducive to the mechanical arm 5 to better cover each part of the curing machine during the execution of the spraying operation, ensuring the uniformity and integrity of the spraying operation.

[0043] In some embodiments, the storage box 2 is provided with mounting cavities 13 corresponding to the air compressor 6 and the pressure tank 7. The mounting cavities 13 are designed in a customized manner, with their internal shape and size perfectly matching the air compressor 6 and the pressure tank 7, so as to provide precise positioning and stable support for them. The mounting cavities 13 are provided with clamps 14 corresponding to the air compressor 6 and the pressure tank 7. The clamps 14 are made of high-strength alloy steel and have good elasticity and fastening force after fine machining and heat treatment process. The clamps 14 can tightly fix the air compressor 6 and the pressure tank 7 in the mounting cavities 13, preventing displacement or loosening of the equipment due to bumps or vibrations during movement of the AGV vehicle body 1, and further ensuring the safe operation of the air compressor 6 and the pressure tank 7 and the stability of the entire spraying system.

[0044] In some embodiments, the AGV vehicle body 1 is provided with a stand 15 made of solid aluminum alloy, which has the characteristics of light weight and high strength. The structure design of the stand 15 is subjected to mechanical optimization analysis, so as to minimize the influence of its own weight on the mobility of the AGV vehicle body 1 while meeting the requirement of bearing the detection radar 16. The detection radar 16 is arranged at the upper end of the stand 15 and can be selected from high-precision sensors such as millimeter wave radar or laser radar. The detection radar 16 is mainly used for remote environmental perception and navigation assistance of the AGV vehicle body 1. It can detect the road conditions, obstacles and workshop layout information in a large range in front of the AGV vehicle body 1 in detail, and transmit these information to the navigation control system of the AGV vehicle body 1. The navigation control system adjusts the driving speed, direction and attitude of the AGV vehicle body 1 in real time according to the data fed back by the detection radar 16, combines the preset map information and path planning algorithm, and ensures that the AGV vehicle body 1 can safely and efficiently drive to the specified vulcanizing machine position for spraying operation in a complex vulcanizing workshop environment.

[0045] In some embodiments, the stand 15 is higher than the storage box. Such height setting can enable the detection radar 16 to obtain a wider field of view, avoiding the influence of the storage box 2 on the detection ability of the detection radar 16 for long-distance environmental information. Meanwhile, the higher position of the stand 15 is also helpful for the detection radar 16 to better interact with other equipment or facilities in the workshop, such as data communication with the central control system of the workshop or positioning calibration with other navigation markers, further improving the adaptability and intelligent level of the entire composite robot device in the workshop environment.

[0046] The above description is only to illustrate the present application, and it should be understood that the present application is not limited to the above embodiments, and various modifications in accordance with the idea of the present application are within the scope of the present application.

Claims

1. A vulcanizing machine spray release agent composite robot device, comprising: AGV vehicle body (1), characterized in that: The AGV vehicle body (1) is provided with a storage box (2) at the upper end and a mounting slot (3) at the front end. A folding stand (4) is provided in the mounting slot (3). A robotic arm (5) is provided on the folding stand (4). A spray gun is provided at the output end of the robotic arm (5). The storage box (2) is equipped with an air compressor (6) and a pressure tank (7).

2. The vulcanizing machine spraying release agent composite robot device according to claim 1, characterized in that, The folding stand (4) includes a fixed base plate (8) installed in the mounting groove (3), the fixed base plate (8) is hinged to a support column (9), the support column (9) is hinged to a support beam (10), and telescopic components are provided between the fixed base plate (8) and the support column (9) and between the support column (9) and the support beam (10). The support beam (10) is provided with a range sensor (11).

3. The vulcanizing machine spraying release agent composite robot device according to claim 2, characterized in that, The telescopic assembly includes two sets of electric telescopic rods (12), and the electric telescopic rods (12) are hinged between the fixed base plate (8) and the support column (9) and between the support column (9) and the support beam (10).

4. The vulcanizing machine spraying release agent composite robot device according to claim 2, characterized in that, The range sensor (11) is a 3D collision avoidance radar.

5. The vulcanizing machine spraying release agent composite robot device according to claim 1, characterized in that, The folding stand (4) is located at the center of the AGV body (1).

6. The vulcanizing machine spraying release agent composite robot device according to any one of claims 1-5, characterized in that, The storage box (2) is provided with an installation cavity (13) corresponding to the air compressor (6) and the pressure tank (7), and the installation cavity (13) is provided with a clamp (14) corresponding to the air compressor (6) and the pressure tank (7).

7. The vulcanizing machine spraying release agent composite robot device according to any one of claims 1-5, characterized in that, The AGV body (1) is provided with a stand (15), and the upper end of the stand (15) is provided with a detection radar (16).

8. The vulcanizing machine spraying release agent composite robot device according to claim 7, characterized in that, The stand (15) is higher than the storage box.

9. The vulcanizing machine spraying release agent composite robot device according to claim 7, characterized in that, The robotic arm (5) is a six-axis robot.

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