CN104355237B - Vulcanizing tank circle mould hanging apparatus and method - Google Patents

Vulcanizing tank circle mould hanging apparatus and method Download PDF

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Publication number
CN104355237B
CN104355237B CN201410471770.4A CN201410471770A CN104355237B CN 104355237 B CN104355237 B CN 104355237B CN 201410471770 A CN201410471770 A CN 201410471770A CN 104355237 B CN104355237 B CN 104355237B
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China
Prior art keywords
dolly
end effector
drive
vulcanizing tank
elevating mechanism
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CN201410471770.4A
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CN104355237A (en
Inventor
陈洪
朱开华
姜发盛
张前进
陈美娇
韩少敏
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FUJIAN SANMING DONGCHEN MACHINERY MANUFACTURING CO LTD
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FUJIAN SANMING DONGCHEN MACHINERY MANUFACTURING CO LTD
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Priority to CN201410471770.4A priority Critical patent/CN104355237B/en
Publication of CN104355237A publication Critical patent/CN104355237A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/14—Grabs opened or closed by driving motors thereon
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes

Abstract

The present invention relates to a kind of vulcanizing tank circle mould hanging apparatus and method, this device includes framework, dolly and end effector, the crossbeam of described framework is provided with two guide rails slided for dolly, four pulleys coordinated respectively it are provided with respective track bottom described dolly, described framework is provided with the walking mechanism driving dolly along guide rail horizontal movement, described framework is provided with and makes dolly be parked in the corresponding positioner producing station, described dolly is provided with the elevating mechanism that the end effector driven below moves up and down, described elevating mechanism is provided with the guiding mechanism of guide tip executor lifting, described guiding mechanism uses on-telescopic structure, described end effector uses electric and pneumatic device to drive.The present invention only carries out transverse shifting, it is ensured that end effector can pause at the operating position specified exactly, more convenient to operate, improves production efficiency；End effector uses electric and pneumatic device to drive simultaneously, even if during power-off suddenly, also can keep current operating state.

Description

Vulcanizing tank circle mould hanging apparatus and method
Technical field
The present invention relates to a kind of vulcanizing tank circle mould hanging apparatus and method.
Background technology
When using vulcanizing tank to produce the product such as adhesive tape, need workman manually to be hung in by circle mould, hang out vulcanizing tank, not only bother, efficiency low, and dangerous reliably.For this, Chinese utility model patent CN 203187314 U discloses a kind of vulcanizing tank hanging apparatus, although achieving automatization and the safe lifting of adhesive tape, but have the disadvantage in that (1) need to be realized end effector and be paused at, by regulation cart, dolly, the operating position specified, therefore troublesome poeration, have impact on production efficiency；(2) end effector mechanism uses magnechuck to drive, and when unexpected power-off, magnechuck loses effect, it may occur that industrial accident, and it is unreliable to lift；(3) being telescopic because of lead, the lifting travel of end effector is only lead and is elongated to the length of maximum later half, therefore for the vulcanizing tank of same height, then needs higher framework, and the space of waste, overall structure is the compactest.
Summary of the invention
In view of the deficiencies in the prior art, it is an object of the invention to provide a kind of compact conformation, the vulcanizing tank that lifting is reliable, production efficiency is high circle mould hanging apparatus and method.
To achieve these goals, technical scheme one is: a kind of vulcanizing tank circle mould hanging apparatus, including framework, dolly and end effector, the crossbeam of described framework is provided with two guide rails slided for dolly, four pulleys coordinated respectively it are provided with respective track bottom described dolly, described framework is provided with the walking mechanism driving dolly along guide rail horizontal movement, described framework is provided with and makes dolly be parked in the corresponding positioner producing station, described dolly is provided with the elevating mechanism that the end effector driven below moves up and down, described elevating mechanism is provided with the guiding mechanism of guide tip executor lifting, described guiding mechanism uses on-telescopic structure, described end effector uses electric and pneumatic device to drive.
Further, described walking mechanism includes driving shaft, driven shaft and travel driving unit, described driving shaft and driven shaft are arranged on framework by fixed mount respectively, described travel driving unit is arranged on framework and its outfan is connected with driving shaft, synchronization wheel it is respectively fixed with on described driving shaft and driven shaft, two Timing Belts synchronizing to be arranged with tensioning between wheel, described Timing Belt two ends are corresponding with dolly two ends respectively to be connected.
Further, described positioner includes that proximity switch and contact, described proximity switch are arranged on the crossbeam of framework, and described contact is fixedly arranged on pulley.
Further, described elevating mechanism includes support, chain, movable pulley, screw mandrel, sliding nut and lifting drive, described lifting drive is arranged on dolly, described pedestal upper end is fixed on below dolly, described screw mandrel upper end is connected with lifting drive after passing bottom dolly, described screw mandrel lower end is arranged on support bottom by bearing block, described sliding nut and screw mandrel are slidably matched and both sides are respectively provided with a movable pulley, described chain one end is fixed on support after walking around corresponding movable pulley, the other end is exposed to below support and is connected with end effector upper end.
Further, described support one side is provided with gib block, and described sliding nut one side is provided with the guide pad being slidably matched with gib block.
Further, described guiding mechanism includes that lead and fairlead, described fairlead are fixed on support bottom, and described lead lower end is fixing with end effector upper end to be connected, and in support is stretched in described lead upper end and is slidably matched with fairlead.
Further, described end effector includes link, fixed plate, actuator and execution driving means, described link is connected with the outfan of elevating mechanism, and described fixed plate is fixed on below link, and described actuator and execution driving means are installed in fixed plate.
Further, described actuator includes interior grabbing device and outer grabbing device, described execution driving means includes interior claw drive unit and outer claw drive unit, described interior grabbing device is arranged on the central authorities below fixed plate, described interior claw drive unit is arranged on the central authorities above fixed plate, the outer grabbing device of at least two is uniformly arranged on the edge below fixed plate, and corresponding outer claw drive unit is uniformly arranged on the edge above fixed plate.
Further, described interior grabbing device includes interior hook connecting rod, interior hook, connection strap and connecting plate, at least three connecting plate is uniformly arranged on the lower section of fixed plate, the opening part of each connecting plate lower end is hinged with corresponding interior hook upper end respectively, described interior hook connecting rod upper end is connected with the output shaft of interior claw drive unit, described interior hook connecting rod lower end is hinged with each connection strap upper end respectively, and each connection strap lower end is hinged with corresponding interior hook lower end inside respectively.
Further, described outer grabbing device includes outer hook, outer hook connecting rod and swing arm, described outer hook connecting rod upper end is connected with the output shaft of outer claw drive unit, and described outer hook connecting rod lower end is fixing with swing arm the inner to be connected, and described swing arm outer end is fixing with outer hook upper end to be connected.
To achieve these goals, technical scheme two is: a kind of vulcanizing tank circle mould hanging method, uses vulcanizing tank as above circle mould hanging apparatus, and sequentially includes the following steps:
(1) before sulfuration: utilize walking mechanism to drive dolly along guide rail horizontal movement, and utilize positioner to make dolly be parked in handling station；Utilize elevating mechanism to drive the end effector below dolly to move downwardly to lower dead center, then drive end effector to capture round mould to be vulcanized by electric and pneumatic device；When end effector is caught after the round mould vulcanized, elevating mechanism is utilized to drive end effector to move up to top dead centre；Utilize walking mechanism to drive dolly along guide rail horizontal movement, and utilize positioner to make dolly be parked in a production station；Utilize elevating mechanism to drive end effector to move downwardly to lower dead center, then drive end effector to be released in vulcanizing tank by round mould to be vulcanized by electric and pneumatic device；
(2) after sulfuration: utilize walking mechanism to drive dolly along guide rail horizontal movement, and utilize positioner to make dolly be parked in above-mentioned production station；Elevating mechanism is utilized to drive the end effector below dolly to move downwardly to lower dead center, then by round mould cured in electric and pneumatic device driving end effector crawl vulcanizing tank；After cured round mould caught by end effector, elevating mechanism is utilized to drive end effector to move up to top dead centre；Utilize walking mechanism to drive dolly along guide rail horizontal movement, and utilize positioner to make dolly be parked in handling station；Utilize elevating mechanism to drive end effector to move downwardly to lower dead center, then drive end effector to discharge cured round mould by electric and pneumatic device.
Compared with prior art, the invention have the advantages that (1) only carries out transverse shifting, it is not necessary to vertically move, it is provided with positioner simultaneously, ensure that end effector can pause at the operating position specified exactly, more convenient to operate, improve production efficiency；(2) using inside and outside grabbing device to capture round mould simultaneously, and use coupling type, end effector mechanism uses electric and pneumatic device to drive simultaneously, even if suddenly power-off or when dying, also can keep current operating state, industrial accident also will not occur, lifting is reliable；(3) because of lead on-telescopic, the lifting travel of end effector by lead effect length, therefore for the vulcanizing tank of same height, then not need not higher framework, reached compact overall structure.
The present invention is further elaborated with embodiment below in conjunction with the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the schematic front view of the embodiment of the present invention.
Fig. 2 is the schematic front view of walking mechanism.
Fig. 3 is that the right side of walking mechanism regards schematic diagram.
Fig. 4 is the schematic front view of elevating mechanism and guiding mechanism.
Fig. 5 is that the right side of elevating mechanism and guiding mechanism regards schematic diagram.
Fig. 6 is the schematic front view of end effector.
Fig. 7 is the schematic front view of positioner.
In figure: 1. framework, 2. guide rail, 3. dolly；4. guiding mechanism, 4-1. lead, 4-2. guide way；5. elevating mechanism, 5-1. lifting drive, 5-2. guide pad, 5-3. sliding nut, 5-4. gib block, 5-5. chain, 5-6. screw mandrel, 5-7. support, 5-8. movable pulley；6. positioner, 6-1. contact, 6-2. proximity switch；7. end effector, 7-1. link, claw drive unit in 7-2., 7-3. fixed plate, 7-4. connecting plate, hook connecting rod in 7-5., 7-6. connection strap, hook in 7-7., the outer hook of 7-8., 7-9. swing arm, the outer hook connecting rod of 7-10., the outer claw drive unit of 7-11.；8. walking mechanism, 8-1. synchronizes wheel, 8-2. driven shaft, 8-3. fixed mount, 8-4. Timing Belt, 8-5. driving shaft, 8-6. travel driving unit, 8-7. pulley.
Detailed description of the invention
As shown in Figure 1, a kind of vulcanizing tank circle mould hanging apparatus, including framework 1, dolly 3 and end effector 7, the crossbeam of described framework 1 is provided with two guide rails 2 slided for dolly 3, four pulley 8-7 coordinated respectively it are provided with respective track 2 bottom described dolly 3, described framework 1 is provided with the walking mechanism 8 driving dolly 3 along guide rail 2 horizontal movement, described framework 1 is provided with and makes dolly 3 be parked in the corresponding positioner 6 producing station, described dolly 3 is provided with the elevating mechanism 5 that the end effector 7 driven below moves up and down, described elevating mechanism 5 is provided with the guiding mechanism 4 of guide tip executor 7 lifting, described guiding mechanism 4 uses on-telescopic structure, described end effector 7 uses electric and pneumatic device to drive.
In the present embodiment, as shown in Fig. 2 ~ 3, described walking mechanism 8 includes driving shaft 8-5, driven shaft 8-2 and travel driving unit 8-6, described driving shaft 8-5 and driven shaft 8-2 is arranged on framework 1 by fixed mount 8-3 respectively, described travel driving unit 8-6 is arranged on framework 1 and its outfan is connected with driving shaft 8-5, synchronization wheel 8-1 it is respectively fixed with on described driving shaft 8-5 and driven shaft 8-2, two Timing Belt 8-4 synchronizing to be arranged with tensioning between wheel 8-1, described Timing Belt 8-4 two ends are corresponding with dolly 3 two ends respectively to be connected, make dolly 3 along guide rail transverse shifting.Certainly, described walking mechanism 8 can also use ball guide screw nat structure etc., as long as making dolly 3 merely transversely mobile.
In the present embodiment, as shown in Figure 7, described positioner 6 includes proximity switch 6-2 and contact 6-1, described proximity switch 6-2 is arranged on the crossbeam of framework 1, described contact 6-1 is fixedly arranged on pulley 8-7, is specifically arranged on the lateral surface of pulley 8-7, it is ensured that end effector can pause at the operating position specified exactly, more convenient to operate, improve production efficiency.It practice, the quantity of described positioner 6 and position can set according to producing station, it is achieved that a workman can operate multiple vulcanizing tank, makes enterprise greatly reduce labor cost in vulcanization process, also solves the problem that enterprise's recruitment is difficult simultaneously.Present invention improves the working environment of workman, reduce labor intensity and the skill set requirements of workman.
nullIn the present embodiment，As shown in Fig. 4 ~ 5，Described elevating mechanism 5 includes support 5-7、Chain 5-5、Movable pulley 5-8、Screw mandrel 5-6、Sliding nut 5-3 and lifting drive 5-1，Described lifting drive 5-1 is arranged on dolly 3，Described support 5-7 is undercut shape and upper end is fixed on below dolly 3，Described screw mandrel 5-6 upper end is connected with lifting drive 5-1 after passing bottom dolly 3，Described screw mandrel 5-6 lower end is arranged on support 5-7 bottom by bearing block，Described sliding nut 5-3 and screw mandrel 5-6 is slidably matched and both sides are respectively provided with a movable pulley 5-8，Described chain 5-5 one end is fixed on support 5-7 after walking around corresponding movable pulley 5-8，The other end is exposed to below support 5-7 and is connected with end effector 7 upper end.So that sliding nut 5-3 stably lifts along screw mandrel 5-6, described support 5-7 one side is perpendicular is provided with gib block 5-4, it is that undercut shape is to be buckled on gib block 5-4 that described sliding nut 5-3 one side is provided with the guide pad 5-2 being slidably matched with gib block 5-4, described guide pad 5-2.Described lifting drive 5-1 drives sliding nut 5-3 to move up and down by screw mandrel 5-6, and described sliding nut 5-3 drives end effector 7 to move up and down by the chain 5-5 on movable pulley 5-8.
In the present embodiment, as shown in Fig. 4 ~ 5, so that end effector 7 opposite brackets 5-7 stably lifts, described guiding mechanism 4 includes lead 4-1 and fairlead, described lead 4-1 is cylinder, described fairlead is fixed on support 5-7 bottom, and described lead 4-1 lower end is fixing with end effector 7 upper end to be connected, and in support 5-7 is stretched in described lead 4-1 upper end and is slidably matched with fairlead.In order to steadily guide, the lead 4-1 of the present invention is symmetrical arranged two, and each lead 4-1 lower end is furnished with two fairleads, and four fairleads can be symmetrically mounted on two ends up and down and the rear and front end of same guide way 4-2, naturally it is also possible to is individually separated.
In the present embodiment, as shown in Figure 6, described end effector 7 includes link 7-1, fixed plate 7-3, actuator and execution driving means, described link 7-1 is connected with the outfan of elevating mechanism 5, described fixed plate 7-3 is fixed on below link 7-1, described actuator and execution driving means are installed in fixed plate 7-3, described actuator driving means is electric and pneumatic device, even if suddenly power-off or when dying, also current operating state can be kept, industrial accident also will not occur, and lifting is reliable.
In the present embodiment, as shown in Figure 6, described actuator includes interior grabbing device and outer grabbing device, described execution driving means includes interior claw drive unit 7-2 and outer claw drive unit 7-11, described interior grabbing device is arranged on the central authorities below fixed plate 7-3, described interior claw drive unit 7-2 is arranged on the central authorities above fixed plate 7-3 by fixing seat, the outer grabbing device of at least two is arranged on the edge below fixed plate 7-3 uniformly through fixing seat, and corresponding outer claw drive unit 7-11 is uniformly arranged on the edge above fixed plate 7-3.The present invention uses inside and outside grabbing device to capture round mould simultaneously, and uses coupling type, not only captures easily, and captures reliable.
nullIn the present embodiment，As shown in Figure 6，Described interior grabbing device includes interior hook connecting rod 7-5、Interior hook 7-7、Connection strap 7-6 and connecting plate 7-4，At least three connecting plate 7-4 is uniformly arranged on the lower section of fixed plate 7-3，Described connecting plate 7-4 is elongated and lower end is provided with opening，The opening part of each connecting plate 7-4 lower end is hinged with corresponding interior hook 7-7 upper end respectively，Described interior hook 7-7 is in undercut shape outwardly，Described interior hook connecting rod 7-5 upper end is connected with the output shaft of interior claw drive unit 7-2，Described interior claw drive unit 7-2 uses orthoscopic type of drive，Hook connecting rod 7-5 elevating movement in driving for example with Telescopic-cylinder bar，Described interior hook connecting rod 7-5 lower end is hinged with each connection strap 7-6 upper end respectively，Each connection strap 7-6 lower end is hinged with corresponding interior hook 7-7 lower end inside respectively.When interior hook connecting rod 7-5 rises, described interior hook 7-7 inward collapsible is to unclamp the circular groove (referring to Chinese utility model patent CN202264335U) at Yuan Mo center；When interior hook connecting rod 7-5 declines, described interior hook 7-7 expands outwardly to catch on the circular groove at Yuan Mo center.
In the present embodiment, as shown in Figure 6, described outer grabbing device includes outer hook 7-8, outer hook connecting rod 7-10 and swing arm 7-9, described outer hook connecting rod 7-10 upper end is connected with the output shaft of outer claw drive unit 7-11, described outer claw drive unit 7-11 uses and rotates type of drive, for example with electronic worm-and-wheel gear, outer hook connecting rod 7-10 is rotated, described outer hook connecting rod 7-10 lower end is fixing with swing arm 7-9 the inner to be connected, described swing arm 7-9 outer end is fixing with outer hook 7-8 upper end to be connected, and described outer hook 7-8 is L-shaped.When outer hook connecting rod 7-10 rotates to a predetermined direction, described outer hook 7-8 leaves the draw-in groove of round mould outer circumferential side；When outer hook connecting rod 7-10 rotates round about, described outer hook 7-8 snaps in the draw-in groove of round mould outer circumferential side.
As shown in Fig. 1 ~ 7, a kind of vulcanizing tank circle mould hanging method, use vulcanizing tank as above circle mould hanging apparatus, and sequentially include the following steps:
(1) before sulfuration: utilize walking mechanism 8 to drive dolly 3 along guide rail 2 horizontal movement, and utilize positioner 6 to make dolly 3 be parked in handling station；Utilize elevating mechanism 5 to drive the end effector 7 below dolly 3 to move downwardly to lower dead center, then drive end effector 7 to capture round mould to be vulcanized by electric and pneumatic device；When end effector 7 is caught after the round mould vulcanized, elevating mechanism 5 is utilized to drive end effector 7 to move up to top dead centre；Utilize walking mechanism 8 to drive dolly 3 along guide rail 2 horizontal movement, and utilize positioner 6 to make dolly 3 be parked in a production station；Utilize elevating mechanism 5 to drive end effector 7 to move downwardly to lower dead center, then drive end effector 7 to be released in vulcanizing tank by round mould to be vulcanized by electric and pneumatic device；
(2) after sulfuration: utilize walking mechanism 8 to drive dolly 3 along guide rail 2 horizontal movement, and utilize positioner 6 to make dolly 3 be parked in above-mentioned production station；Utilize elevating mechanism 5 to drive the end effector 7 below dolly 3 to move downwardly to lower dead center, then pass through round mould cured in electric and pneumatic device drives end effector 7 to capture vulcanizing tank；After cured round mould caught by end effector 7, elevating mechanism 5 is utilized to drive end effector 7 to move up to top dead centre；Utilize walking mechanism 8 to drive dolly 3 along guide rail 2 horizontal movement, and utilize positioner 6 to make dolly 3 be parked in handling station；Utilize elevating mechanism 5 to drive end effector 7 to move downwardly to lower dead center, then drive end effector 7 to discharge cured round mould by electric and pneumatic device.
The foregoing is only presently preferred embodiments of the present invention, all impartial changes done according to scope of the present invention patent and modification, all should belong to the covering scope of the present invention.

Claims (9)

1. a vulcanizing tank circle mould hanging apparatus, including framework, dolly and end effector, the crossbeam of described framework is provided with two guide rails slided for dolly, four pulleys coordinated respectively it are provided with respective track bottom described dolly, it is characterized in that: described framework is provided with the walking mechanism driving dolly along guide rail horizontal movement, described framework is provided with and makes dolly be parked in the corresponding positioner producing station, described dolly is provided with the elevating mechanism that the end effector driven below moves up and down, described elevating mechanism is provided with the guiding mechanism of guide tip executor lifting, described guiding mechanism uses on-telescopic structure, described end effector uses electric and pneumatic device to drive；Described walking mechanism includes driving shaft, driven shaft and travel driving unit, described driving shaft and driven shaft are arranged on framework by fixed mount respectively, described travel driving unit is arranged on framework and its outfan is connected with driving shaft, synchronization wheel it is respectively fixed with on described driving shaft and driven shaft, two Timing Belts synchronizing to be arranged with tensioning between wheel, described Timing Belt two ends are corresponding with dolly two ends respectively to be connected.
Vulcanizing tank the most according to claim 1 circle mould hanging apparatus, it is characterised in that: described positioner includes that proximity switch and contact, described proximity switch are arranged on the crossbeam of framework, and described contact is fixedly arranged on pulley.
Vulcanizing tank the most according to claim 1 circle mould hanging apparatus, it is characterized in that: described elevating mechanism includes support, chain, movable pulley, screw mandrel, sliding nut and lifting drive, described lifting drive is arranged on dolly, described pedestal upper end is fixed on below dolly, described screw mandrel upper end is connected with lifting drive after passing bottom dolly, described screw mandrel lower end is arranged on support bottom by bearing block Described sliding nut and screw mandrel are slidably matched and both sides are respectively provided with a movable pulley, and described chain one end is fixed on support after walking around corresponding movable pulley, and the other end is exposed to below support and is connected with end effector upper end；Described support one side is provided with gib block, and described sliding nut one side is provided with the guide pad being slidably matched with gib block.
Vulcanizing tank the most according to claim 3 circle mould hanging apparatus, it is characterized in that: described guiding mechanism includes lead and fairlead, described fairlead is fixed on support bottom, described lead lower end is fixing with end effector upper end to be connected, and in support is stretched in described lead upper end and is slidably matched with fairlead.
Vulcanizing tank the most according to claim 1 circle mould hanging apparatus, it is characterized in that: described end effector includes link, fixed plate, actuator and execution driving means, described link is connected with the outfan of elevating mechanism, described fixed plate is fixed on below link, and described actuator and execution driving means are installed in fixed plate.
Vulcanizing tank the most according to claim 5 circle mould hanging apparatus, it is characterized in that: described actuator includes interior grabbing device and outer grabbing device, described execution driving means includes interior claw drive unit and outer claw drive unit, described interior grabbing device is arranged on the central authorities below fixed plate, described interior claw drive unit is arranged on the central authorities above fixed plate, the outer grabbing device of at least two is uniformly arranged on the edge below fixed plate, and corresponding outer claw drive unit is uniformly arranged on the edge above fixed plate.
Vulcanizing tank the most according to claim 6 circle mould hanging apparatus, it is characterized in that: described interior grabbing device includes interior hook connecting rod, interior hook, connection strap and connecting plate, at least three connecting plate is uniformly arranged on the lower section of fixed plate, the opening part of each connecting plate lower end is hinged with corresponding interior hook upper end respectively, described interior hook connecting rod upper end is connected with the output shaft of interior claw drive unit, described interior hook connecting rod lower end is hinged with each connection strap upper end respectively, and each connection strap lower end is hinged with corresponding interior hook lower end inside respectively.
Vulcanizing tank the most according to claim 6 circle mould hanging apparatus, it is characterized in that: described outer grabbing device includes outer hook, outer hook connecting rod and swing arm, described outer hook connecting rod upper end is connected with the output shaft of outer claw drive unit, described outer hook connecting rod lower end is fixing with swing arm the inner to be connected, and described swing arm outer end is fixing with outer hook upper end to be connected.
9. a vulcanizing tank circle mould hanging method, it is characterised in that: use the vulcanizing tank circle mould hanging apparatus as according to any one of claim 1 to 8, and sequentially include the following steps:
(1) before sulfuration: utilize walking mechanism to drive dolly along guide rail horizontal movement, and utilize positioner to make dolly be parked in handling station；Utilize elevating mechanism to drive the end effector below dolly to move downwardly to lower dead center, then drive end effector to capture round mould to be vulcanized by electric and pneumatic device；When end effector is caught after the round mould vulcanized, elevating mechanism is utilized to drive end effector to move up to top dead centre；Utilize walking mechanism to drive dolly along guide rail horizontal movement, and utilize positioner to make dolly be parked in a production station；Utilize elevating mechanism to drive end effector to move downwardly to lower dead center, then drive end effector to be released in vulcanizing tank by round mould to be vulcanized by electric and pneumatic device；
(2) after sulfuration: utilize walking mechanism to drive dolly along guide rail horizontal movement, and utilize positioner to make dolly be parked in above-mentioned production station；Elevating mechanism is utilized to drive the end effector below dolly to move downwardly to lower dead center, then by round mould cured in electric and pneumatic device driving end effector crawl vulcanizing tank；After cured round mould caught by end effector, elevating mechanism is utilized to drive end effector to move up to top dead centre；Utilize walking mechanism to drive dolly along guide rail horizontal movement, and utilize positioner to make dolly be parked in handling station；Utilize elevating mechanism to drive end effector to move downwardly to lower dead center, then drive end effector to discharge cured round mould by electric and pneumatic device.
CN201410471770.4A 2014-09-17 2014-09-17 Vulcanizing tank circle mould hanging apparatus and method Active CN104355237B (en)

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