Vulcanizing machine automatic feeding device with manipulator and tool linkage

Abstract

The utility model relates to the technical field of vulcanizing machines, and discloses a vulcanizing machine automatic feeding device with a manipulator linked with a tool, which comprises a charging tray and a feeding tool, the charging tray is provided with semi-arc positioning grooves which are arranged at equal intervals and are matched with products to be vulcanized for positioning; the feeding tool comprises a vacuum suction cup used for adsorbing a to-be-vulcanized product on the material disc and a clamping plate used for clamping and fixing the to-be-vulcanized product, the feeding tool is installed on the mechanical arm, and the to-be-vulcanized product on the material disc is fed to the vulcanizing machine through cooperation of the mechanical arm and the feeding tool. The special design of the charging tray provides precise positioning for the product, the secondary positioning of the mounting box further ensures the position precision of the product in the tool, and the precise control of the action of each air cylinder is combined, so that the feeding position is accurate, the quality stability of the vulcanized product is greatly improved, and simultaneous parallel operation can be realized to realize continuous feeding.

Description

Technical Field

[0001] This utility model belongs to the field of vulcanizing machine technology, specifically relating to an automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage. Background Technology

[0002] In the production processes of industries such as rubber and plastics, vulcanizing machines are key pieces of equipment used to vulcanize products, thereby improving their physical properties and quality. Accurately and efficiently placing the products to be vulcanized into the appropriate positions on the vulcanizing machine is crucial for ensuring production efficiency and product quality. Traditional vulcanizing machine feeding methods rely heavily on manual operation, which is not only labor-intensive and inefficient but also prone to problems such as inaccurate feeding positions and improper product placement, thus affecting the quality stability of the vulcanized products. With the continuous development of industrial automation technology, the market demand for automatic feeding devices for vulcanizing machines is increasing, with the expectation that automated equipment can achieve precise, efficient, and stable feeding processes.

[0003] Some existing feeding devices employ simple mechanical structures, such as using chains, gears, or other transmission mechanisms to drive hoppers or clamps for feeding. These devices typically only achieve relatively simple linear or circular movements, resulting in poor feeding flexibility and difficulty in adapting to products of different shapes and sizes to be vulcanized. Some devices use suction cups to adsorb products for feeding, but relying solely on suction cups makes it easy for products to shake or fall during handling, leading to feeding failures. Moreover, these devices often lack effective positioning and fixing measures, failing to guarantee accurate placement of products on the vulcanizing machine. In some small enterprises or small-scale production settings, manual feeding is still widely used. Workers need to manually place the products to be vulcanized onto the vulcanizing machine. This method is not only inefficient, but also causes worker fatigue due to prolonged repetitive operation, leading to decreased feeding accuracy, and also poses certain safety hazards.

[0004] In view of this, we propose an automatic feeding device for vulcanizing machines with a robotic arm and tooling linkage to solve the above problems. Utility Model Content

[0005] The present invention aims to solve the technical problems of the limited motion accuracy of simple mechanical feeding devices in the prior art, which makes it difficult to meet the requirements of high-precision feeding; and the lack of secondary positioning and clamping measures in suction cup feeding devices, which makes the products prone to displacement during adsorption and handling.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] An automatic feeding device for a vulcanizing machine, comprising a robotic arm and tooling linkage, including:

[0008] The material tray has semi-circular positioning grooves arranged at equal intervals to position the product to be vulcanized.

[0009] The feeding fixture includes a vacuum suction cup for adsorbing the product to be vulcanized on the material tray and a clamping plate for clamping and fixing the product to be vulcanized. The feeding fixture is mounted on a robot arm, and the robot arm cooperates with the feeding fixture to feed the product to be vulcanized from the material tray to the vulcanizing machine.

[0010] Preferably, the tray also includes a limiting plate perpendicular to the semi-circular positioning groove, and the limiting plate is provided with a number of limiting holes arranged at equal intervals to fit the product to be vulcanized for limiting and positioning.

[0011] Preferably, the feeding fixture also includes a U-shaped frame, a mounting box fixed inside the U-shaped frame, a downward cylinder installed on the top of the mounting box and pushing the clamping plate to clamp and position the product to be vulcanized on the mounting box, and a horizontal cylinder that pushes the vacuum suction cup to move back and forth.

[0012] Preferably, the mounting box has several positioning holes arranged at equal intervals to accommodate the insertion and positioning of the product to be vulcanized, and the downward cylinder is installed and fixed on the cover plate on the top of the mounting box.

[0013] Preferably, the clamping plate is provided with clamping grooves that extend into the positioning holes and cooperate with the positioning holes to clamp and position the product to be vulcanized.

[0014] Preferably, the U-shaped frame has equally spaced insertion holes that correspond one-to-one with the positioning holes and are used to allow the vacuum suction cup to pass through.

[0015] Preferably, each vacuum suction cup is fixed on the insert rod, the insert rod is fixed on the flat push plate, the flat push cylinder is fixed on the L-shaped support plate on the rear side of the U-shaped frame, and the end of the piston rod of the flat push cylinder is fixedly connected to the flat push plate. The flat push plate is guided and slid by the guide groove at its bottom cooperating with the guide rail on the L-shaped support plate.

[0016] Preferably, one end of the U-shaped frame is fixed to the lifting platform of the vertical servo linear module, and at least two sets of U-shaped frames are provided on the lifting platform. The vertical servo linear module is installed and fixed on the robot arm.

[0017] Compared with the prior art, the technical effects and advantages of this utility model are:

[0018] This automatic feeding device for vulcanizing machines, equipped with a robotic arm and tooling linkage, begins by placing the product to be vulcanized on a tray, using the tray's semi-circular positioning groove and the limiting holes on the limiting plate for precise positioning. The feeding tooling, through the cooperation of the robotic arm and a vertical servo linear module, first adjusts its height and horizontal position to reach above the tray. A horizontal push cylinder pushes a vacuum suction cup through the holes in the U-shaped frame and mounting box, adsorbing the product, and then reverses to pull the product into the positioning hole of the mounting box. A downward cylinder drives a clamping plate to clamp and fix the product, ensuring stable handling. Afterwards, the robotic arm and vertical servo linear module move the feeding tooling above the vulcanizing machine again, the downward cylinder releases the clamp, and the horizontal push cylinder pushes the product to the designated position on the vulcanizing machine. Finally, the feeding tooling returns to its initial position. If multiple U-shaped frames are used, simultaneous parallel operation can achieve continuous feeding.

[0019] The special design of the material tray provides precise product positioning, and the secondary positioning of the mounting box further ensures the product's positional accuracy within the tooling. Combined with the precise control of each cylinder's movement, the feeding position is accurate and error-free, greatly improving the quality stability of the vulcanized products. In terms of efficiency, the equidistant arrangement design facilitates the feeding tooling to quickly and accurately grasp products. Multiple sets of U-shaped frames can operate simultaneously, and the multi-station operation of each cylinder makes the feeding process smooth, significantly shortening the feeding time and improving production efficiency.

[0020] The vertical servo linear module can drive the feeding fixture to operate at different heights, adapting to material trays and vulcanizing machines of varying heights. The combined use of the vacuum suction cup and clamping plate ensures stable gripping and securing of products without damaging their surfaces, accommodating products of different shapes and materials to be vulcanized. Simultaneously, the cooperation between the flat push plate and guide rail guarantees the linearity and stability of the vacuum suction cup's movement, improving the accuracy of adsorption and material pushing, reducing the failure rate during the feeding process, and ensuring continuous production. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the feeding fixture of this utility model;

[0023] Figure 3 This is a schematic diagram of the material tray of this utility model;

[0024] Figure 4 This is a first-view view of the mounting box and the horizontal thrust cylinder of this utility model.

[0025] Figure 5 This is a second-view view of the mounting box and the horizontal thrust cylinder of this utility model;

[0026] Figure 6This is an exploded view of the mounting box and cover plate of this utility model.

[0027] In the diagram: 1. Material tray; 11. Semi-circular positioning groove; 12. Limiting plate; 13. Limiting hole; 2. Loading fixture; 21. Vacuum suction cup; 22. Clamping plate; 23. U-shaped frame; 24. Mounting box; 25. Downward cylinder; 26. Horizontal push cylinder; 27. Positioning hole; 28. Cover plate; 29. ​​Clamping groove; 210. Through hole; 211. Through rod; 212. Horizontal push plate; 213. L-shaped support plate; 214. Guide groove; 215. Guide rail; 216. Vertical servo linear module; 217. Lifting platform; 3. Product to be vulcanized. Detailed Implementation

[0028] 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, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] The following combination Figures 1 to 6 This application will be described in further detail.

[0030] This application discloses an automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage, including a material tray 1 and a feeding tooling 2;

[0031] The material tray 1 is provided with semi-circular arc-shaped positioning grooves 11 arranged at equal intervals and used to position the product 3 to be vulcanized; the material tray 1 also includes a limiting plate 12 arranged perpendicular to the semi-circular arc-shaped positioning grooves 11, and a number of limiting holes 13 arranged at equal intervals on the limiting plate 12 to fit the product 3 to be vulcanized for limiting insertion and positioning.

[0032] The evenly spaced semi-circular positioning grooves 11 provide precise positioning for the product 3 to be vulcanized. The semi-circular design conforms well to the shape of the product, ensuring stable placement on the tray 1, reducing shaking and displacement, and guaranteeing the product's positional accuracy while waiting for loading. The evenly spaced arrangement facilitates the loading fixture 2 to accurately grasp the product at fixed intervals, improving loading efficiency and accuracy.

[0033] The limiting plate 12 is set perpendicular to the semi-circular positioning groove 11, and the limiting holes 13 are arranged at equal intervals, which further strengthens the positioning and fixing of the vulcanized product 3. The product can be positioned by limiting insertion through the limiting holes 13 to prevent the product from shifting laterally or longitudinally on the material tray 1, and to ensure that the feeding fixture 2 can accurately adsorb and grasp the product.

[0034] The feeding fixture 2 includes a vacuum suction cup 21 for adsorbing the product 3 to be vulcanized on the material tray 1 and a clamping plate 22 for clamping and fixing the product 3 to be vulcanized. The feeding fixture 2 is mounted on a robot arm, and the product 3 to be vulcanized on the material tray 1 is fed to the vulcanizing machine by the cooperation of the robot arm and the feeding fixture 2.

[0035] The loading fixture 2 also includes a U-shaped frame 23, a mounting box 24 fixed inside the U-shaped frame 23, a downward cylinder 25 mounted on the top of the mounting box 24 and pushing the clamping plate 22 to clamp and position the product 3 to be vulcanized on the mounting box 24, and a horizontal cylinder 26 that pushes the vacuum suction cup 21 to move back and forth. The mounting box 24 has several positioning holes 27 arranged at equal intervals to accommodate the insertion and positioning of the product 3 to be vulcanized. The downward cylinder 25 is mounted and fixed on the cover plate 28 on the top of the mounting box 24. The clamping plate 22 has clamping grooves 29 arranged at equal intervals that extend into the positioning holes 27 and clamp and position the product 3 to be vulcanized.

[0036] The downward cylinder 25 moves the clamping plate 22 up and down, causing the clamping groove 29 to move closer to or further away from the positioning hole 27, thereby clamping and positioning the product 3 to be vulcanized in the positioning hole 27 or releasing the clamping of the product 3 to be vulcanized.

[0037] The U-shaped frame 23 has equally spaced insertion holes 210 that correspond one-to-one with the positioning holes 27 and allow the vacuum suction cups 21 to pass through. Each vacuum suction cup 21 is fixed to an insertion rod 211, which is fixed to a flat push plate 212. A flat push cylinder 26 is fixed to an L-shaped support plate 213 on the rear side of the U-shaped frame 23, and the piston rod end of the flat push cylinder 26 is fixedly connected to the flat push plate 212. The flat push plate 212 is guided and slidable by a guide groove 214 at its bottom and a guide rail 215 on the L-shaped support plate 213.

[0038] The action of the flat-push cylinder 26 drives the flat-push plate 212 to move back and forth, so that the vacuum suction cup 21 moves through the insertion hole 210 and the positioning hole 27 to extend into the material tray 1 to adsorb and fix the product 3 to be vulcanized, or pulls the product 3 to be vulcanized that is adsorbed and fixed on the material tray 1 backward into the positioning hole 27, or pushes the product 3 to be vulcanized in the positioning hole 27 onto the vulcanizing machine.

[0039] Vacuum suction cup 21 is used to adsorb the product 3 to be vulcanized on the material tray 1. This adsorption method can stably grasp the product without damaging the product surface. Clamping plate 22 is used to clamp and fix the product 3 to be vulcanized. The two are used together to ensure that the product will not fall or shake during transportation, ensuring the safety of the product and the stability of the feeding.

[0040] The U-shaped frame 23 provides a stable support structure for the entire loading fixture 2, facilitating the installation of other components. The evenly spaced insertion holes 210 correspond one-to-one with the positioning holes 27, ensuring that the vacuum suction cup 21 can accurately pass through and contact the product. The positioning holes 27 on the mounting box 24 allow for secondary positioning of the vulcanized product 3, improving the product's positioning accuracy within the fixture. Simultaneously, the mounting box 24 also provides a foundation for the installation of the downward-moving cylinder 25 and the clamping plate 22.

[0041] The downward movement of the cylinder 25 drives the clamping plate 22 to move up and down, thereby enabling the clamping and unclamping of the vulcanized product 3. This design allows for easy control of the clamping force, ensuring that the product is not damaged by excessive compression during clamping, and also facilitates the loading and unloading of the product.

[0042] The horizontal push cylinder 26 can drive the vacuum suction cup 21 to move back and forth, realizing the functions of adsorbing products, pulling products into the positioning hole 27, and pushing products onto the vulcanizing machine. This multi-station operation mode makes the feeding process smoother and improves the feeding efficiency.

[0043] The flat push plate 212 is guided and slidable by the guide groove 214 at its bottom and the guide rail 215 on the L-shaped support plate 213, ensuring the straightness and stability of the flat push plate 212 during its forward and backward movement. This ensures that the vacuum suction cup 21 can accurately reach the designated position during movement, improving the accuracy of adsorption and material pushing.

[0044] One end of the U-shaped frame 23 is fixed to the lifting platform 217 of the vertical servo linear module 216. At least two sets of U-shaped frames 23 are provided on the lifting platform 217, and the vertical servo linear module 216 is mounted and fixed on the robotic arm. The movement of the vertical servo linear module 216 can drive the U-shaped frame 23 to move up and down.

[0045] The vertical servo linear module 216 can drive the U-shaped frame 23 to move up and down, allowing the loading fixture 2 to operate at different heights. This makes the loading device adaptable to material trays 1 and vulcanizing machines of different heights, improving the versatility and adaptability of the device. At least two sets of U-shaped frames 23 are installed on the lifting platform 217, allowing for simultaneous loading of multiple products, greatly improving loading efficiency. Through the cooperation of the robotic arm and the vertical servo linear module 216, a continuous and efficient loading process can be achieved.

[0046] The operation procedure of the automatic feeding device for the vulcanizing machine with the linkage between the robotic arm and the tooling is as follows:

[0047] Preparation stage

[0048] Product placement: Place the product 3 to be vulcanized into the semi-circular positioning groove 11 of the material tray 1 in sequence, so that part of the product is inserted into the corresponding limiting hole 13 on the limiting plate 12, thus completing the positioning and fixing of the product on the material tray 1.

[0049] Equipment initialization: Check that all components of the feeding device are functioning properly, ensuring that the downward cylinder 25, the horizontal cylinder 26, the vertical servo linear module 216, etc., are in their initial positions, and that the vacuum suction cup 21 is free from blockages or other abnormalities. Simultaneously, initialize the robot arm, determining its starting position and movement path.

[0050] The feeding fixture 2 moves to one side of the material tray 1.

[0051] Height adjustment: The vertical servo linear module 216 moves the U-shaped frame 23 on the lifting platform 217 and the entire loading fixture 2 up and down, so that the loading fixture 2 reaches a suitable height position above the material tray 1, so that the vacuum suction cup 21 can accurately pick up the product 3 to be vulcanized on the material tray 1.

[0052] Horizontal positioning: The robot moves according to the preset program and accurately positions the loading fixture 2 on one side of the material tray 1, so that the insertion hole 210 on the U-shaped frame 23 corresponds one-to-one with the product position on the material tray 1.

[0053] Adsorption products

[0054] Vacuum suction cup 21 extends: The flat push cylinder 26 is activated, which drives the flat push plate 212 to slide forward along the guide rail 215, so that the vacuum suction cup 21 fixed on the insert rod 211 passes through the insert hole 210 on the U-shaped frame 23 and the positioning hole 27 on the mounting box 24, and extends into one side of the product 3 to be vulcanized on the material tray 1.

[0055] Adsorption of product: The vacuum system is activated, and the vacuum suction cup 21 generates suction to adsorb and fix the product 3 to be vulcanized on the material tray 1.

[0056] The product was transferred to the mounting box, positioning hole 24 and hole 27.

[0057] Product Pulling: The flat-push cylinder 26 moves in the opposite direction, causing the flat-push plate 212 to slide backward, pulling the adsorbed and fixed product 3 to be vulcanized from the material tray 1 backward into the positioning hole 27 of the mounting box 24, completing the secondary positioning of the product.

[0058] Product clamping: The downward cylinder 25 is activated, pushing the clamping plate 22 downward, so that the clamping groove 29 on the clamping plate 22 is close to the positioning hole 27, clamping and positioning the product 3 to be vulcanized in the positioning hole 27, ensuring that the product will not shake or fall during transportation.

[0059] The feeding device 2 moves to the top of the vulcanizing machine.

[0060] Height and Horizontal Adjustment: The vertical servo linear module 216 operates again to adjust the height of the loading fixture 2 to match the loading position of the vulcanizing machine. At the same time, the robot arm moves the loading fixture 2 above the loading station of the vulcanizing machine.

[0061] Product is fed into the vulcanizing machine.

[0062] Product release: The downward cylinder 25 moves in the opposite direction, causing the clamping plate 22 to move upward, releasing the clamping of the vulcanized product 3.

[0063] Product Push: The flat-push cylinder 26 moves again, driving the flat-push plate 212 to slide forward, pushing the product 3 to be vulcanized in the positioning hole 27 to the designated position of the vulcanizing machine, completing the product loading operation.

[0064] Loading fixture 2 returns to its initial position

[0065] Reset of the horizontal push cylinder 26: The horizontal push cylinder 26 moves in the opposite direction, driving the vacuum suction cup 21 back to its initial position.

[0066] Vertical servo linear module 216 and robot arm reset: The vertical servo linear module 216 drives the loading fixture 2 back to the initial height, and the robot arm moves the loading fixture 2 back to the starting position to prepare for the next loading operation.

[0067] Multiple U-shaped frames 23 operate in coordination (if applicable)

[0068] If at least two sets of U-shaped frames 23 are installed on the lifting platform 217, multiple products can be loaded simultaneously. While one set of U-shaped frames 23 completes the loading operation, the other set of U-shaped frames 23 can simultaneously perform operations such as adsorbing and transferring products, achieving a continuous and efficient loading process.

[0069] The entire operation process achieves automatic feeding of the vulcanizing machine through the coordinated work of components such as the robotic arm, vertical servo linear module 216, downward cylinder 25, horizontal cylinder 26, and vacuum suction cup 21, thereby improving the efficiency and accuracy of feeding.

[0070] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage, characterized in that, include: The material tray (1) is provided with semi-circular positioning grooves (11) arranged at equal intervals and positioned to match the vulcanized product (3); The feeding fixture (2) includes a vacuum suction cup (21) for adsorbing the product (3) to be vulcanized on the material tray (1) and a clamping plate (22) for clamping and fixing the product (3) to be vulcanized. The feeding fixture (2) is mounted on the robot arm. The robot arm cooperates with the feeding fixture (2) to feed the product (3) to be vulcanized on the material tray (1) to the vulcanizing machine.

2. The automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage as described in claim 1, characterized in that: The tray (1) also includes a limiting plate (12) perpendicular to the semi-circular positioning groove (11), and the limiting plate (12) is provided with several limiting holes (13) arranged at equal intervals to fit the product to be vulcanized (3) for limiting insertion and positioning.

3. The automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage as described in claim 1, characterized in that: The feeding fixture (2) also includes a U-shaped frame (23), a mounting box (24) fixed inside the U-shaped frame (23), a downward cylinder (25) installed on the top of the mounting box (24) and pushing the clamping plate (22) to clamp and position the product (3) to be vulcanized on the mounting box (24), and a flat-push cylinder (26) that pushes the vacuum suction cup (21) to move back and forth.

4. The automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage as described in claim 3, characterized in that: The mounting box (24) has several positioning holes (27) arranged at equal intervals to accommodate the insertion and positioning of the product to be vulcanized (3). The downward cylinder (25) is installed and fixed on the cover plate (28) on the top of the mounting box (24).

5. The automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage as described in claim 4, characterized in that: The clamping plate (22) is provided with clamping grooves (29) arranged at equal intervals, which extend into the positioning holes (27) and cooperate with the positioning holes (27) to clamp and position the product (3) to be vulcanized.

6. The automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage as described in claim 4, characterized in that: The U-shaped frame (23) has through holes (210) arranged at equal intervals, corresponding one-to-one with the positioning holes (27) and allowing the vacuum suction cup (21) to pass through.

7. The automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage as described in claim 6, characterized in that: Each vacuum suction cup (21) is fixed on the insertion rod (211), the insertion rod (211) is fixed on the flat push plate (212), the flat push cylinder (26) is fixed on the L-shaped support plate (213) on the rear side of the U-shaped frame (23), and the end of the piston rod of the flat push cylinder (26) is fixedly connected to the flat push plate (212). The flat push plate (212) is guided and slid through the guide groove (214) at its bottom and the guide rail (215) on the L-shaped support plate (213).

8. The automatic feeding device for a vulcanizing machine with a robotic arm and tooling linkage as described in claim 4, characterized in that: One end of the U-shaped frame (23) is fixed on the lifting platform (217) of the vertical servo linear module (216). At least two sets of U-shaped frames (23) are provided on the lifting platform (217), and the vertical servo linear module (216) is installed and fixed on the robot arm.

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