Servo control system for feeding and discharging during vulcanization of swimming caps

Abstract

The utility model relates to the technical field of vulcanizing machines, in particular to a servo control system for feeding and discharging during vulcanization of swimming caps. The device comprises a feeding conveying belt, a vulcanizing machine, a discharging conveying belt and a servo manipulator located on the side portion of the vulcanizing machine, the servo manipulator comprises a mechanical arm, and the bottom of the mechanical arm is arranged in a working area defined by the feeding conveying belt, the vulcanizing machine and the discharging conveying belt through a base. A grabbing device is mounted at the tail end of the mechanical arm and is divided into a feeding grabbing mechanism on the left side and a discharging grabbing mechanism on the right side; the feeding grabbing mechanism comprises a connecting plate I, a vacuum generator and a grabbing plate; the discharging grabbing mechanism comprises a connecting plate II, a liquid spraying device and an air spraying device. The grabbing device is improved, the feeding grabbing mechanism is used for feeding control over materials, the discharging device is used for achieving release agent spraying, high-speed air blowing and discharging control over the swimming caps, and therefore grabbing control over the swimming caps before and after vulcanization through the servo manipulator is achieved, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to vulcanizing machine technical field, concretely relates to a kind of swimming cap vulcanization feeding and discharging servo control system. BACKGROUND

[0002] In the production process of swimming cap, vulcanization link is crucial, directly affects the texture of swimming cap, durability and comfort. The feeding and discharging of traditional vulcanizing machine rely on manual, efficiency is low, and there are great safety hazards, and quality control is unstable. To solve these problems, technical personnel have made many efforts, such as the feeding device disclosed in CN210308604U patent, which includes mechanical hand grabbing device, jaw mechanism and tire conveying mechanism, and is arranged on the upper workbench. However, this scheme only realizes the feeding function, and does not solve the demolding and discharging problem of swimming cap, resulting in low work efficiency, and multiple equipment cooperation is needed. Therefore, the servo control system for feeding and discharging of swimming cap vulcanization still needs to be further optimized to realize full automation, improve production efficiency and safety. UTILITY MODEL CONTENTS

[0003] The technical problem to be solved by the utility model is to overcome the shortcomings of the prior art and provide a servo control system for feeding and discharging of swimming cap vulcanization.

[0004] The technical scheme adopted by the utility model is as follows:

[0005] A servo control system for feeding and discharging of swimming cap vulcanization, comprising a feeding conveyor belt, a vulcanizing machine, a discharging conveyor belt and a servo mechanical hand located at the side of the vulcanizing machine, wherein:

[0006] The servo mechanical hand comprises a mechanical arm, the bottom of the mechanical arm is arranged in the working area formed by the feeding conveyor belt, the vulcanizing machine and the discharging conveyor belt through a base; a grabbing device is installed at the end of the mechanical arm, and the grabbing device is divided into a left feeding grabbing mechanism and a right discharging grabbing mechanism, wherein:

[0007] The feeding grabbing mechanism comprises a connecting plate I, a vacuum generator and a grabbing plate, the vacuum generator is installed at the top of the connecting plate I, the grabbing plate is installed at the bottom of the connecting plate, and the grabbing plate holds the material therebetween;

[0008] The discharging grabbing mechanism comprises a connecting plate II, a liquid spraying device and an air jet device, the liquid spraying device and the air jet device are installed at the front of the connecting plate II, and the grabbing rod is installed at the bottom of the connecting plate II, the liquid spraying device and the air jet device are arranged towards the vulcanized swimming cap, and the grabbing rod holds the vulcanized swimming cap therebetween;

[0009] The feeding conveyor belt comprises a conveyor belt I and a material located on the conveyor belt I, and the material is placed on the mold of the vulcanizing machine by the servo mechanical hand from the conveyor belt I;

[0010] The discharging conveying belt comprises a conveying belt II and vulcanized swimming caps on the conveying belt II, and the vulcanized swimming caps are placed on the conveying belt II from the mold of the vulcanizing machine by the servo manipulator.

[0011] The technical scheme improves the grabbing device, controls the feeding of the material by the feeding grabbing mechanism, realizes the spraying of the releasing agent, high-speed blowing and discharging control of the swimming cap by the discharging device, thereby realizing the grabbing control of the servo manipulator before and after the vulcanization of the swimming cap and improving the work efficiency. Specifically, the vacuum generator in the feeding grabbing mechanism clamps the material of the swimming cap on the grabbing plate by generating negative pressure, so as to ensure that the material will not fall during movement; the mechanical arm rotates relative to the base, and the material is conveyed from the feeding conveying belt to the mold of the vulcanizing machine; after the vulcanizing machine is vulcanized, the swimming cap is attached to the mold; the mechanical arm drives the grabbing device to rotate by 90 degrees, and the discharging grabbing mechanism on the other side faces the vulcanizing machine; the liquid spraying device and the air spraying device in the discharging grabbing mechanism respectively spray the releasing agent and high-speed gas, wherein the liquid spraying device sprays the releasing agent by pressure, and the air spraying device helps the swimming cap to fall off from the mold by the impact force generated by the high-speed airflow; the grabbing rod scrapes and clamps the swimming cap, and then sends the swimming cap to the discharging conveying belt.

[0012] In addition, the servo control system for the feeding and discharging of the swimming cap can have the following additional technical features according to the above-mentioned technical scheme.

[0013] According to one embodiment of the present application, the mechanical arm of the servo manipulator is a multi-joint mechanism, and an electrical cabinet is arranged in the middle part.

[0014] In the technical scheme, the mechanical arm realizes flexible movement in multiple directions through the multi-joint mechanism, thereby meeting the actions such as rotation, lifting, swinging and the like during the vulcanization of the swimming cap. The mechanical arm is used for feeding the material of the swimming cap, releasing the vulcanized swimming cap and discharging.

[0015] According to one embodiment of the present application, the vacuum generator is connected to the gas outlet of the electrical cabinet through a pipeline, and the electrical cabinet controls the opening and closing action of the grabbing plate.

[0016] In the technical scheme, an electromagnetic valve is arranged in the electrical cabinet, and the electromagnetic valve is connected to the main control cabinet on the side of the base through a pipeline; the vacuum generator drives the grabbing plate to clamp and open and close by the air cylinder, and is used for clamping the material.

[0017] According to one embodiment of the present application, the liquid spraying device comprises a fixed plate and a liquid spraying pipe, the liquid spraying pipe is connected to the connecting plate II through the fixed plate, and the liquid spraying pipe is connected to the sprayer of the electrical cabinet through a pipeline; the liquid spraying pipe sprays the releasing agent towards the swimming cap.

[0018] In the technical solution, the grabbing device is turned by 90 degrees, so that the discharging grabbing mechanism faces the side of the mold; the liquid spraying pipe is started in advance during the movement of the discharging grabbing mechanism to the mold, and the liquid spraying pipe sprays the mold releasing agent at a distance in front of the swimming cap, so that the swimming cap is pre-separated from the mold.

[0019] According to one embodiment of the utility model, the air jet device comprises an air jet head connected to the air outlet of the electrical cabinet through a pipeline; the air jet head is inclined towards the rear and sprays high-speed gas towards the swimming cap.

[0020] In the technical solution, after the liquid spraying pipe sprays the mold releasing agent, the air jet head sprays high-speed gas towards the swimming cap, so as to promote the swimming cap to be completely separated from the mold.

[0021] According to one embodiment of the utility model, the bottom of the grabbing rod is provided with a scraper, which is in contact with the mold and scrapes the swimming cap on the mold.

[0022] The technical solution utilizes the scraper to smoothly separate the swimming cap that has not been separated from the mold, so that the grabbing rod can clamp and place the swimming cap on the conveying belt II.

[0023] Compared with the prior art, the utility model has the following beneficial effects:

[0024] The utility model improves the grabbing device, controls the feeding of materials by the feeding grabbing mechanism, realizes the spraying of mold releasing agent, high-speed blowing and discharging control of the swimming cap by the discharging device, so as to realize the grabbing control of the swimming cap before and after vulcanization by the servo manipulator, and improve the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0025] Fig. 1 It is the structural schematic diagram of the utility model.

[0026] Fig. 2 It is the side view of the servo manipulator.

[0027] Fig. 3 It is the perspective view of the servo manipulator.

[0028] In the drawing: 1, grabbing device; 11, connecting plate I; 12, vacuum generator; 13, grabbing plate; 14, connecting plate II; 15, fixed plate; 16, liquid spraying pipe; 17, air jet head; 18, grabbing rod; 2, mechanical arm; 3, base; 4, electrical cabinet; 5, feeding conveying belt; 6, material; 7, vulcanizing machine; 8, mold; 9, discharging conveying belt. DETAILED DESCRIPTION

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0030] Example 1

[0031] like Figs. 1 to 3 As shown, this embodiment provides a servo control system for the vulcanization loading and unloading of swimming caps, including a loading conveyor belt 5, a vulcanizing machine 7, an unloading conveyor belt 9, and a servo manipulator located on the side of the vulcanizing machine 7, wherein:

[0032] The servo robotic arm includes a robotic arm 2. The bottom of the robotic arm 2 is mounted on a base 3 within a working area surrounded by a feeding conveyor belt 5, a vulcanizing machine 7, and a discharging conveyor belt 9. A gripping device 1 is installed at the end of the robotic arm 2. The gripping device 1 consists of a feeding gripping mechanism on the left and a discharging gripping mechanism on the right.

[0033] The feeding and gripping mechanism includes a connecting plate I11, a vacuum generator 12 and a gripping plate 13. The vacuum generator 12 is installed on the top of the connecting plate I11, and the gripping plate 13 is installed on the bottom of the connecting plate. The material 6 is held between the gripping plates 13.

[0034] The feeding and gripping mechanism includes a connecting plate II 14, a spraying device and a jetting device. The spraying device and the jetting device are installed at the front of the connecting plate II 14, and gripping rods 18 are installed at the bottom of the connecting plate II 14. The spraying device and the jetting device are positioned towards the vulcanized swimming cap, and the vulcanized swimming cap is held between the gripping rods 18.

[0035] The feeding conveyor belt 5 includes a conveyor belt I and a material 6 located on the conveyor belt I. The material 6 is placed from the conveyor belt I onto the mold 8 of the vulcanizing machine 7 by a servo robot.

[0036] The feeding conveyor belt 9 includes conveyor belt II and vulcanized swimming caps located on conveyor belt II. The vulcanized swimming caps are placed onto conveyor belt II by a servo robot from the mold 8 of vulcanizing machine 7.

[0037] like Figs. 1 to 3As shown, the technical scheme improves the grabbing device 1, uses the feeding grabbing mechanism to control the feeding of the material 6, uses the discharging device to realize the release agent spraying, high-speed blowing and discharging control of the swimming cap, so that the servo mechanical hand realizes the grabbing control of the swimming cap before and after vulcanization, and the working efficiency is improved. Specifically, the vacuum generator 12 in the feeding grabbing mechanism clamps the material 6 of the swimming cap on the grabbing plate 13 by generating negative pressure, so that the material 6 is ensured not to fall during movement; the mechanical arm 2 rotates relative to the base 3, and the material 6 is transported from the feeding conveyor belt 5 to the mold 8 of the vulcanizing machine 7; after the vulcanizing machine 7 is vulcanized, the swimming cap is attached to the mold 8; the mechanical arm 2 drives the grabbing device 1 to rotate 90°, and the discharging grabbing mechanism on the other side faces the vulcanizing machine 7; the liquid spraying device and the air spraying device in the discharging grabbing mechanism respectively spray release agent and high-speed gas, wherein the liquid spraying device sprays the release agent by pressure, and the air spraying device uses the impact force generated by high-speed airflow to help the swimming cap fall off the mold 8; the grabbing rod 18 scrapes the swimming cap and clamps it, and then sends the swimming cap to the discharging conveyor belt 9.

[0038] In addition, the servo control system for the swimming cap vulcanization feeding and discharging according to the above-mentioned utility model can also have the following additional technical features:

[0039] According to one embodiment of the utility model, the mechanical arm 2 of the servo mechanical hand is a multi-joint mechanism, and an electrical cabinet 4 is arranged in the middle part.

[0040] In the technical scheme, the mechanical arm 2 realizes flexible movement in multiple directions through the multi-joint mechanism, so as to meet the actions such as rotation, lifting, swinging and the like in the swimming cap vulcanization process. The mechanical arm 2 is used for feeding the material 6 of the swimming cap, releasing the vulcanized swimming cap and discharging.

[0041] According to one embodiment of the utility model, the vacuum generator 12 is connected with the air outlet of the electrical cabinet 4 through a pipeline, and the electrical cabinet controls the opening and closing action of the grabbing plate 13.

[0042] In the technical scheme, the electrical cabinet 4 is internally provided with an electromagnetic valve, and the electromagnetic valve is connected with the main control cabinet on the side of the base 3 through a pipeline; the vacuum generator 12 drives the grabbing plate 13 to perform clamping opening and closing action through a cylinder, and is used for clamping the material 6.

[0043] According to one embodiment of the utility model, the liquid spraying device comprises a fixed plate 15 and a liquid spraying pipe 16, the liquid spraying pipe 16 is connected with the connecting plate II 14 through the fixed plate 15, and the liquid spraying pipe 16 is connected with the sprayer of the electrical cabinet 4 through a pipeline; the liquid spraying pipe 16 sprays release agent towards the swimming cap.

[0044] In this technical solution, the gripping device 1 is rotated 90° so that the material feeding gripping mechanism faces the mold 8. During the process of the material feeding gripping mechanism moving towards the mold 8, the spray pipe 16 is started in advance. The spray pipe 16 sprays the release agent at a certain distance in front of the swimming cap so that the swimming cap is pre-separated from the mold 8.

[0045] According to one embodiment of the present invention, the jet device includes a jet head 17, which is connected to the air outlet of the electrical cabinet 4 via a pipeline; the jet head 17 is inclined to the rear and jets high-speed gas toward the swimming cap.

[0046] In this technical solution, after the release agent is sprayed out of the spray pipe 16, the jet nozzle 17 sprays high-speed gas toward the swimming cap, causing the swimming cap to quickly and completely separate from the mold 8.

[0047] According to one embodiment of the present invention, a scraper is provided at the bottom of the gripping rod 18, and the scraper contacts the mold 8 and scrapes off the swimming cap on the mold 8.

[0048] This technical solution utilizes a scraper to smoothly separate the swimming caps that have not yet detached from the mold 8, thereby facilitating the gripping rod 18 to clamp the swimming caps and place them onto the conveyor belt II.

[0049] The usage process of the above embodiments is as follows:

[0050] like Figs. 1 to 3 As shown, the servo robot arm feeds materials through the feeding gripping mechanism: the feeding gripping mechanism uses the gripping plate 13 to clamp the material 6 located on the feeding conveyor belt 5, the robot arm 2 rotates relative to the base 3, and the feeding gripping mechanism faces the vulcanizing machine 7 to place the material 6 on the mold 8 of the vulcanizing machine 7 to complete the feeding task.

[0051] The servo robot arm performs material feeding via a material feeding gripping mechanism: the robot arm 2 rotates relative to the base 3 and faces the material feeding gripping mechanism toward the vulcanizing machine 7. The release agent is sprayed toward the swimming cap beforehand through the spraying device, and high-speed gas is sprayed through the jetting device to make the swimming cap detach from the mold 8. The gripping rod 18 scrapes along the surface of the mold 8 and clamps the swimming cap on the gripping rod 18. The robot arm 2 rotates relative to the base 3 and places the swimming cap onto the material feeding conveyor belt 9 to complete the material feeding task.

[0052] It should be noted that this utility model only improves the hardware structure and does not make any improvements to the software in the servo robot, and is therefore protected by the utility model.

Claims

1. A servo control system for the up and down feeding of a swimming cap vulcanization, characterized by, It comprises a feeding conveyor belt (5), a vulcanizing machine (7), a discharging conveyor belt (9), and a servo manipulator on the side of the vulcanizing machine (7). The servo manipulator comprises a mechanical arm (2), the bottom of the mechanical arm (2) is arranged in a working area surrounded by the feeding conveyor belt (5), the vulcanizing machine (7) and the discharging conveyor belt (9) through a base (3); the end of the mechanical arm (2) is provided with a grabbing device (1), the grabbing device (1) is divided into a left feeding grabbing mechanism and a right discharging grabbing mechanism, wherein The feeding grabbing mechanism comprises a connecting plate I (11), a vacuum generator (12) and a grabbing plate (13), the top of the connecting plate I (11) is provided with the vacuum generator (12), the bottom of the connecting plate is provided with the grabbing plate (13), and the grabbing plate (13) clamps the material (6) therebetween; The discharging grabbing mechanism comprises a connecting plate II (14), a liquid spraying device and a gas spraying device, the front of the connecting plate II (14) is provided with the liquid spraying device and the gas spraying device, the bottom of the connecting plate II (14) is provided with a grabbing rod (18), the liquid spraying device and the gas spraying device are arranged towards the vulcanized swimming cap, and the grabbing rod (18) clamps the vulcanized swimming cap therebetween; The feeding conveyor belt (5) comprises a conveyor belt I and a material (6) on the conveyor belt I, the material (6) is placed on a mold (8) of the vulcanizing machine (7) from the conveyor belt I by the servo manipulator; The discharging conveyor belt (9) comprises a conveyor belt II and a vulcanized swimming cap on the conveyor belt II, the vulcanized swimming cap is placed on the conveyor belt II from the mold (8) of the vulcanizing machine (7) by the servo manipulator.

2. The servo control system for vulcanizing the cap feeding and discharging of the swim cap according to claim 1, wherein, The mechanical arm (2) of the servo manipulator is a multi-joint mechanism, and an electrical cabinet (4) is arranged in the middle of the mechanical arm (2).

3. The servo control system for vulcanizing the cap feeding and discharging of the swim cap according to claim 2, wherein, The vacuum generator (12) is connected with the gas outlet of the electrical cabinet (4) through a pipeline, and the electrical cabinet controls the opening and closing action of the grabbing plate (13).

4. The servo control system for vulcanizing the cap feeding and discharging of the swim cap according to claim 2, wherein, The liquid spraying device comprises a fixed plate (15) and a liquid spraying pipe (16), the liquid spraying pipe (16) is connected with the connecting plate II (14) through the fixed plate (15), the liquid spraying pipe (16) is connected with a sprayer of the electrical cabinet (4) through a pipeline, and the liquid spraying pipe (16) sprays a release agent towards the swimming cap.

5. The servo control system for vulcanizing the cap feeding and discharging of the swim cap according to claim 2, wherein, The gas spraying device comprises a gas spraying head (17), the gas spraying head (17) is connected with the gas outlet of the electrical cabinet (4) through a pipeline, the gas spraying head (17) is arranged to be inclined towards the rear, and sprays high-speed gas towards the swimming cap.

6. The servo control system for vulcanization loading and unloading of swim caps according to claim 1, characterized in that, The bottom of the grabbing rod (18) is provided with a scraper, the scraper is in contact with the mold (8) and scrapes the swimming cap on the mold (8) down.

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