A film vulcanization robot material taking, turning and stripping manipulator

Abstract

The utility model discloses a kind of film vulcanization robot material taking and turning over stripping mechanical hand, including slide rail, the sliding fit installation of slide rail lower side has sliding plate, telescopic device is installed in the lower side of sliding plate, the telescopic end of telescopic device is stretched out downward and is installed with pneumatic finger, two clamping fingers of pneumatic finger are respectively installed with clamping piece, two sides of the outer wall of pneumatic finger and clamping finger are respectively installed with connecting seat, vacuum chuck is installed on connecting seat, the connection between two sides clamping piece and the connection between two sides vacuum chuck are crossed;It also includes driving device, driving device is used to drive and reciprocatingly move along slide rail with sliding plate.The utility model can take out rubber raw sheet with isolating diaphragm from raw material bin, and can strip isolating diaphragm from rubber raw sheet.

Description

Technical Field

[0001] This utility model relates to the technical field of rubber bottle stopper production equipment, and in particular to a robotic hand for picking up, turning over and peeling film during the vulcanization of rubber sheets. Background Technology

[0002] To improve the automation level of our production, we designed an integrated rubber sheet vulcanization equipment for rubber bottle stopper production. This equipment is mainly used for placing raw rubber sheets into the vulcanizing machine (feeding) and for removing the vulcanized semi-finished rubber sheets from the vulcanizing machine and spreading them out for cooling (unloading). Before feeding the raw rubber sheets into the vulcanizing machine, the rubber sheets with attached release diaphragms need to be removed from the raw material bin. These release diaphragms prevent the upper and lower rubber sheets from sticking together. After removing the rubber sheets with release diaphragms from the raw material bin, they are placed on the feeding platform, and then the release diaphragms are peeled off the rubber sheets before feeding can begin. To achieve the above objectives, our technical personnel designed a robotic material handling, flipping, and film-peeling manipulator for rubber sheet vulcanization, as described in this application. Utility Model Content

[0003] The technical problem to be solved by this utility model is to address the problems existing in the background art and provide a rubber sheet vulcanization robot for picking up, flipping and peeling the film, which is used to take out the rubber sheet with the release liner attached from the raw material bin and peel the release liner off the rubber sheet.

[0004] To achieve the above-mentioned technical features, the purpose of this utility model is as follows: A film vulcanizing robot for picking up, turning, and peeling film includes a slide rail, a slide plate slidably mounted on the lower side of the slide rail, a telescopic device mounted on the lower side of the slide plate, a pneumatic finger mounted on the telescopic end of the telescopic device extending downwards, and a gripping component mounted on each of the two gripping fingers of the pneumatic finger. Connecting seats are mounted on the outer walls of the pneumatic finger and on the two sides adjacent to the gripping fingers, and vacuum suction cups are mounted on the connecting seats. The line connecting the two gripping components intersects with the line connecting the two vacuum suction cups. The robot also includes a driving device for driving the slide plate to reciprocate along the slide rail.

[0005] In a preferred embodiment, the slide rail is a linear guide rail, with two linear guide rails arranged in parallel. At least one slider is slidably mounted on the linear guide rail, and the slide plate is fixedly mounted to the sliders on the two linear guide rails.

[0006] In a preferred embodiment, the drive device includes a driver, a gear, and a rack. The driver is mounted and fixed on the underside of the slide plate. The output shaft of the driver extends upward from the slide plate and is fitted with a gear. The slide rail and rack are used to mount on a fixed plate inside the film vulcanizing robot. The gear and rack mesh for transmission.

[0007] In a preferred embodiment, the driver is a servo motor or a stepper motor.

[0008] In a preferred embodiment, the telescopic device is one of a pneumatic cylinder, a hydraulic cylinder, and an electric cylinder.

[0009] In a preferred embodiment, a lifting plate is fixedly installed at the telescopic end of the telescopic device, a pneumatic finger is installed on the lower side of the lifting plate, a guide rod is fixedly installed on the lifting plate, a guide seat is slidably fitted on the guide rod, and the guide seat is fixedly installed on the outer wall of the telescopic device.

[0010] In a preferred embodiment, a vacuum generator is also included, the vacuum port of which is connected to a vacuum suction cup via a pipe; in use, the air supply port of the vacuum generator is connected to a compressed air source via a hose.

[0011] In a preferred embodiment, the vacuum suction cup is a multi-layer silicone suction cup.

[0012] In a preferred embodiment, the clamping member includes a connecting rod, a mounting block, and an elastic clamping block. The connecting rod has at least two mounting holes. The threaded end of the screw passes through the mounting hole and is screwed into the threaded hole on the clamping finger for fixation. The mounting block is laterally fixed to the end of the connecting rod, and the elastic clamping block is mounted and fixed on the mounting block.

[0013] In a preferred embodiment, an air-blowing shell is also fixedly installed on the side of the mounting block away from the connecting rod. The air-blowing shell has a cavity inside and an air-blowing hole is provided on the lower side of the air-blowing shell. The air-blowing direction of the air-blowing hole is towards the clamping center line of the clamping members on both sides. An air inlet is also provided on the air-blowing shell.

[0014] The features of this utility model using the above-mentioned technical solution are: 1. In this utility model, the slide rail and the sliding plate are slidably connected. The driving device is used to drive the sliding plate to move back and forth along the slide rail to transfer the release diaphragm and the rubber sheet and to peel off the release diaphragm. When the telescopic device extends downward, it is used to allow the pneumatic fingers to grip the release diaphragm and the rubber sheet in the raw material bin through the clamping member. The connecting seat is used to install a vacuum suction cup, which is used to pick up one end of the release diaphragm after being connected to a vacuum. Through the above structure, the rubber sheet with the release diaphragm attached can be removed from the raw material bin, and the release diaphragm can be peeled off the rubber sheet.

[0015] 2. When peeling off the isolation diaphragm, compressed air is introduced into the air inlet through a pneumatic hose. The compressed air enters the cavity and is blown out from the air blowing hole. The airflow impacts the rubber sheet, which facilitates the peeling off of the isolation diaphragm. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0017] Figure 1 This is a schematic diagram of the main structure of this utility model.

[0018] Figure 2 This is a side view of the structure of this utility model.

[0019] Figure 3 This is a three-dimensional structural diagram of the clamping component in the utility model.

[0020] Figure 4 This is a cross-sectional structural diagram of the clamping component in the utility model.

[0021] Figure 5 This is a schematic diagram showing how the isolation diaphragm is picked up by a vacuum suction cup when using this utility model.

[0022] Figure 6 This is a schematic diagram showing how the isolation diaphragm is lifted by a vacuum suction cup when in use.

[0023] Figure 7 This is a schematic diagram showing how one end of the isolation diaphragm is held by a pneumatic finger when using this utility model.

[0024] Figure 8 This is a schematic diagram showing how the isolation diaphragm and the rubber sheet are lifted by a telescopic device when this utility model is in use.

[0025] Figure 9 This is a schematic diagram showing how, when using this utility model, the pneumatic hand moves to the right to flip the isolation diaphragm and the rubber sheet and lay them flat on the feeding table.

[0026] Figure 10 This is a schematic diagram showing how the isolation diaphragm is peeled off when using this utility model.

[0027] Figure label: Fixing plate 1, isolation diaphragm 101, rubber sheet 102; 10 slide rails, 11 sliders, 20 slide plates; Drive unit 30, driver 31, gear 32, rack 33; Telescopic device 40, lifting plate 41, guide seat 42, guide rod 43; Pneumatic finger 50, finger pinching 51; Clamping component 60, airflow 601, connecting rod 61, mounting hole 611, mounting block 62, limit screw 621, elastic clamping block 63, air blowing shell 64, air blowing hole 641, air inlet 642, cavity 643. Connector 70, vacuum suction cup 80, vacuum generator 90. 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] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0030] Example 1: See Figure 1 , 2 A film vulcanizing robot for picking, flipping, and peeling film includes a slide rail 10, a slide plate 20 slidably mounted on the lower side of the slide rail 10, a telescopic device 40 mounted on the lower side of the slide plate 20, a pneumatic finger 50 extending downward from the telescopic end of the telescopic device 40, a gripping element 60 mounted on each of the two gripping fingers 51 of the pneumatic finger 50, a connecting seat 70 mounted on each of the two sides adjacent to the gripping fingers 51 of the outer wall of the pneumatic finger 50, a vacuum suction cup 80 mounted on the connecting seat 70, and a line connecting the two gripping elements 60 intersecting the line connecting the two vacuum suction cups 80; it also includes a drive device 30 for driving the slide plate 20 to reciprocate along the slide rail 10.

[0031] The slide rail 10 and the slide plate 20 are slidably connected. The drive device 30 drives the slide plate 20 to reciprocate along the slide rail 10 to transfer the isolation diaphragm 101 and the rubber sheet 102 and to peel off the isolation diaphragm 101. When the telescopic device 40 extends downward, it allows the pneumatic finger 50 to grip the isolation diaphragm 101 and the rubber sheet 102 in the raw material bin through the clamping member 60. The connecting seat 70 is used to install the vacuum suction cup 80. After the vacuum suction cup 80 is connected to a vacuum, it is used to pick up one end of the isolation diaphragm 101. Through the above structure, the rubber sheet 102 with the isolation diaphragm 101 attached can be removed from the raw material bin, and the isolation diaphragm 101 can be peeled off the rubber sheet 102.

[0032] In this embodiment, the line connecting the two clamping members 60 intersects the line connecting the two vacuum suction cups 80 in a cross shape.

[0033] See Figure 2 The slide rail 10 is a linear guide rail, with two linear guide rails arranged in parallel. At least one slider 11 is slidably mounted on each linear guide rail. The slide plate 20 is fixedly mounted to the sliders 11 on the two linear guide rails. In this embodiment, two sliders 11 are slidably mounted on each linear guide rail. In this embodiment, see Figure 2 The drive unit 30 includes a driver 31, a gear 32, and a rack 33. The driver 31 is mounted and fixed on the underside of the slide plate 20. The output shaft of the driver 31 extends upward from the slide plate 20 and is fitted with the gear 32. The slide rail 10 and the rack 33 are mounted on a fixed plate 1 inside the film vulcanizing robot. The gear 32 meshes with the rack 33 for transmission. The driver 31 is either a servo motor or a stepper motor. With the above structure, when the driver 31 drives the gear 32 to rotate, since the driver 31 is mounted on the slide plate 20 and the rack 33 is fixed, the slide plate 20 will move along the slide rail 10. By controlling the forward and reverse rotation of the driver 31, the slide plate 20 will reciprocate along the slide rail 10.

[0034] In addition to the structure described above, the drive device 30 can also adopt other structures, such as a ball screw drive structure, for example, a single-axis manipulator screw stabilizing mechanism disclosed in CN212123300U. When applied to this application, the slide plate 20 can be mounted on the ball screw support.

[0035] The drive unit 30 can also adopt the synchronous belt drive structure disclosed in CN207841316U, a synchronous belt XY axis robotic arm. When applied to this application, the translation base is equivalent to the slide plate 20 in this application.

[0036] In this embodiment, the vacuum suction cup 80 is a multi-layer silicone suction cup. See also... Figure 6 This allows the vacuum suction cup 80 to bend when suctioning the isolation diaphragm 101.

[0037] See Figure 3 , 4 The clamping component 60 includes a connecting rod 61, a mounting block 62, and an elastic clamping block 63. The connecting rod 61 has at least two mounting holes 611. The threaded end of a screw passes through the mounting holes 611 and is screwed into the threaded hole on the clamping finger 51 for fixation. The mounting block 62 is laterally fixed to the end of the connecting rod 61, and the elastic clamping block 63 is mounted and fixed on the mounting block 62. The connecting rod 61 allows the mounting block 62 to have a certain extension length. The mounting block 62 is used to mount the elastic clamping block 63, and the elastic clamping block 63 is used to clamp the isolation diaphragm 101.

[0038] In this embodiment, the mounting block 62 is U-shaped, and the elastic clamping block 63 is fixedly installed in the groove of the mounting block 62 by at least one of the following methods: adhesive bonding, snap-fitting, and connection using a limiting screw 621. The elastic clamping block 63 is a rubber block or a silicone block.

[0039] In this embodiment, the connecting seat 70 has an L-shaped structure. One end of the connecting seat 70 is provided with two longitudinal elongated holes. The connecting seat 70 is connected to the side wall of the pneumatic finger 50 by bolts through the elongated holes. The other end of the connecting seat 70 is provided with a through hole for installing the vacuum suction cup 80. After the connecting rod joint of the vacuum suction cup 80 is inserted into the through hole, the nut is screwed on to install and fix the vacuum suction cup 80 to the connecting seat 70.

[0040] Example 2: Based on Example 1, see Figure 2 A lifting plate 41 is fixedly installed at the telescopic end of the telescopic device 40. A pneumatic finger 50 is installed on the lower side of the lifting plate 41. A guide rod 43 is fixedly installed on the lifting plate 41. A guide seat 42 is slidably fitted on the guide rod 43. The guide seat 42 is fixedly installed on the outer wall of the telescopic device 40. This structure prevents the telescopic end of the telescopic device 40 from rotating, which would cause a change in the installation orientation of the clamping member 60 and the vacuum suction cup.

[0041] Specifically, the telescopic end of the telescopic device 40 can be welded to the lifting plate 41, or a threaded hole can be provided on the lifting plate 41, and the telescopic end of the telescopic device 40 can be screwed into the threaded hole on the lifting plate 41 through threaded engagement.

[0042] The pneumatic finger 50 is mounted on the bottom of the lifting plate 41 by screws. Specifically, the threaded end of the screw passes through the lifting plate 41 from top to bottom and is screwed into the threaded hole at the end of the pneumatic finger 50 for fixation.

[0043] The guide rod 43 can be welded to the lifting plate 41, or a threaded hole can be provided on the lifting plate 41, and the guide rod 43 and the threaded hole on the lifting plate 41 can be screwed together and fixed. The guide seat 42 is provided with a sliding hole, and the guide seat 42 is slidably fitted onto the guide rod 43 through the sliding hole. The guide seat 42 is installed on the outer wall of the telescopic device 40 by screws. In this embodiment, see... Figure 2 A guide rod 43 is installed on each side of the telescopic device 40 on the lifting plate 41.

[0044] Example 3: Based on Embodiment 1 or Embodiment 2, this utility model also includes a vacuum generator 90, which provides negative pressure to the vacuum suction cup 80.

[0045] Specifically, the vacuum port of the vacuum generator 90 is connected to the vacuum suction cup 80 through a pipe; in use, the air supply port of the vacuum generator 90 is connected to the compressed air source through a hose.

[0046] Example 4: Based on Example 1, Example 2, or Example 3, see [link to example]. Figure 4 In this utility model, an air-blowing shell 64 is also fixedly installed on the side of the mounting block 62 of the clamping member 60 away from the connecting rod 61. The air-blowing shell 64 has a cavity 643 inside, and an air-blowing hole 641 is provided on the lower side of the air-blowing shell 64. The air-blowing direction of the air-blowing hole 641 is towards the clamping center line of the clamping members 60 on both sides. An air inlet 642 is also provided on the air-blowing shell 64. With the above structure, see Figure 10 When peeling off the isolation diaphragm 101, compressed air is introduced into the air inlet 642 through the pneumatic hose. The compressed air enters the cavity 643 and is blown out from the air outlet 641. The airflow 601 impacts the rubber sheet 102, which facilitates the peeling off of the isolation diaphragm 101.

[0047] In this embodiment, the air blowing hole 641 can be one or more elongated holes, or one or more circular holes.

[0048] The working principle or process of the utility model: When using, please refer to Figure 5 First, the telescopic end of the telescopic device 40 extends downward, so that the vacuum suction cup 80 contacts the left end of the isolation diaphragm 101. The vacuum suction cup 80 is subjected to negative pressure to hold the isolation diaphragm 101 in place.

[0049] See Figure 6 The telescopic end of the telescopic device 40 retracts to a certain height, lifting and bending the isolation diaphragm 101.

[0050] See Figure 7 When the pneumatic finger 50 is activated, the clamping finger 51 moves, clamping the isolation diaphragm 101 through the clamping member 60.

[0051] See Figure 8 The telescopic end of the telescopic device 40 retracts, lifting the isolation diaphragm 101 and the rubber sheet 102 until they are suspended in the air. Then the drive device 30 drives the slide plate 20 to move to the right.

[0052] See Figure 9 As the isolation diaphragm 101 and the rubber sheet 102 move to the right, their lower ends contact the feeding table, and at the same time, the telescopic end of the telescopic device 40 extends downward, flipping the isolation diaphragm 101 and the rubber sheet 102 and placing them on the feeding table.

[0053] See Figure 10 Once the rubber sheet 102 is fully attached to the feeding platform, the drive unit 30 drives the slide plate 20 to move to the left, peeling the separator diaphragm 101 off the rubber sheet 102. During peeling, compressed air is introduced into the air inlet 642 through the pneumatic hose. The compressed air enters the cavity 643 and is blown out from the air outlet 641. The airflow 601 impacts the rubber sheet 102, facilitating the peeling of the separator diaphragm 101.

[0054] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Any modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A robotic arm for film vulcanization, characterized in that: The system includes a slide rail (10), a slide plate (20) which is slidably mounted on the lower side of the slide rail (10), a telescopic device (40) which is mounted on the lower side of the slide plate (20), a pneumatic finger (50) which is extended downward at the telescopic end of the telescopic device (40), a clamping member (60) which is mounted on the two clamping fingers (51) of the pneumatic finger (50), a connecting seat (70) which is mounted on the two sides adjacent to the clamping fingers (51) of the outer wall of the pneumatic finger (50), a vacuum suction cup (80) which is mounted on the connecting seat (70), and a line connecting the clamping members (60) on both sides intersecting the line connecting the vacuum suction cups (80) on both sides; it also includes a drive device (30) which is used to drive the slide plate (20) to move back and forth along the slide rail (10).

2. The film vulcanization robot for picking up, turning over, and peeling film as described in claim 1, characterized in that: The slide rail (10) is a linear guide rail, with two linear guide rails arranged in parallel. At least one slider (11) is slidably installed on the linear guide rail, and the slide plate (20) is fixedly installed on the slider (11) on the two linear guide rails.

3. The film vulcanization robot for picking up, turning over, and peeling film as described in claim 1, characterized in that: The drive device (30) includes a driver (31), a gear (32) and a rack (33). The driver (31) is mounted and fixed on the lower side of the slide plate (20). The output axis of the driver (31) extends upward from the slide plate (20) and the gear (32) is mounted thereon. The slide rail (10) and the rack (33) are used to be mounted on the fixed plate (1) inside the film vulcanizing robot. The gear (32) meshes with the rack (33) for transmission.

4. The film vulcanization robot for picking up, turning over, and peeling film as described in claim 3, characterized in that: The driver (31) is a servo motor or a stepper motor.

5. The film vulcanization robot for picking up, turning over, and peeling film as described in claim 1, characterized in that: The telescopic device (40) is one of a pneumatic cylinder, a hydraulic cylinder, and an electric cylinder.

6. The film vulcanization robot for picking up, turning over, and peeling film as described in claim 1, characterized in that: The telescopic device (40) has a lifting plate (41) fixedly installed at its telescopic end. A pneumatic finger (50) is installed on the lower side of the lifting plate (41). A guide rod (43) is fixedly installed on the lifting plate (41). A guide seat (42) is slidably fitted on the guide rod (43). The guide seat (42) is fixedly installed on the outer wall of the telescopic device (40).

7. The film vulcanization robot for picking up, turning over, and peeling film as described in claim 1, characterized in that: It also includes a vacuum generator (90), whose vacuum port is connected to a vacuum suction cup (80) via a pipe; in use, the air supply port of the vacuum generator (90) is connected to a compressed air source via a hose.

8. The film vulcanization robot for picking up, turning over, and peeling film according to claim 1, characterized in that: The vacuum suction cup (80) is a multi-layer silicone suction cup.

9. The film vulcanization robot for picking up, turning over, and peeling film according to claim 1, characterized in that: The clamping member (60) includes a connecting rod (61), a mounting block (62), and an elastic clamping block (63). The connecting rod (61) is provided with at least two mounting holes (611). The threaded end of the screw passes through the mounting hole (611) and is screwed and fixed to the threaded hole on the clamping finger (51). The mounting block (62) is horizontally fixed to the end of the connecting rod (61), and the elastic clamping block (63) is installed and fixed on the mounting block (62).

10. The film vulcanization robot for picking up, turning over, and peeling film according to claim 9, characterized in that: An air-blowing shell (64) is also fixedly installed on the side of the mounting block (62) away from the connecting rod (61). The air-blowing shell (64) has a cavity (643) inside. An air-blowing hole (641) is provided on the lower side of the air-blowing shell (64). The air-blowing direction of the air-blowing hole (641) is towards the clamping center line of the clamping parts (60) on both sides. An air inlet (642) is also provided on the air-blowing shell (64).

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