CN105480729B - A kind of many perception rubber lamination robot devices - Google Patents
A kind of many perception rubber lamination robot devices Download PDFInfo
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- CN105480729B CN105480729B CN201510925121.1A CN201510925121A CN105480729B CN 105480729 B CN105480729 B CN 105480729B CN 201510925121 A CN201510925121 A CN 201510925121A CN 105480729 B CN105480729 B CN 105480729B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/12—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis
- B26D1/14—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter
- B26D1/141—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter for thin material, e.g. for sheets, strips or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
- B26D7/02—Means for holding or positioning work with clamping means
- B26D7/025—Means for holding or positioning work with clamping means acting upon planar surfaces
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- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
- Laminated Bodies (AREA)
Abstract
The invention discloses rubber lamination robot device is perceived one kind more, the device includes buffer gear, cutting mechanism, stacking mechanism, loader mechanism and support, buffer gear is laid in one end of support, cutting mechanism, stacking mechanism and loader mechanism are laid in the other end of support, and cutting mechanism, stacking mechanism and loader mechanism are laid successively from the top down.The device can realize automation lamination, and improve lamination efficiency and quality.
Description
Technical field
The present invention relates to a kind of robot, it particularly relates to a kind of many perception rubber lamination robot devices.
Background technology
At present, the main technique of rubber lamination is：Fork truck pitches lamination carrier vehicle in place, and rubber is squeezed from film production line
Go out, extrusion device is located above lamination area, artificial lamination, to certain altitude, film is cut off, fork truck walks film pile fork, opens
Beginning subsequent cycle.The subject matter that such a method is present has, film stack it is irregular, more disorderly；The simple duplication of labour of workman, and
Working environment is higher, odorous unhealthful etc. because of temperature.It is therefore desirable to improve working condition, automation or unmanned is realized
Production.
The content of the invention
Technical problem：The technical problems to be solved by the invention are：A kind of many perception rubber lamination robot devices are provided,
Automation lamination can be realized, and improves lamination efficiency and quality.
Technical scheme：In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of many perception rubber lamination robot devices, the device includes buffer gear, cutting mechanism, stacking mechanism, dress
Mounted mechanism and support, buffer gear are laid in one end of support, and cutting mechanism, stacking mechanism and loader mechanism are laid in support
The other end, and cutting mechanism, stacking mechanism and loader mechanism lay successively from the top down.
Preferably, described buffer gear include be arranged in pairs first feed roller group, distance measuring sensor ease up
Rush control system, the first feed roller group is connected to the top of support by connector, the feed roller group of each pair first include power roller,
Test the speed roller and the first motor, has gap between power roller and the roller that tests the speed, and the width in the gap is more than or equal to the thickness of adhesive tape
Degree, the power output shaft of the first motor is connected with power roller；Distance measuring sensor is fixedly connected on the bottom of support；Ranging is passed
The signal input part of the signal output part of sensor and buffer control system is connected, the power signal output end of buffer control system with
First motor signal input part is connected, and the signal output part for the roller that tests the speed and the signal input part of buffer control system are connected.
Preferably, the first described feed roller group is n groups, and the feed roller group of n groups first, which is parallel to each other, is laid in branch
Top of the trellis；Described distance measuring sensor is n-1；Space between each distance measuring sensor and the feed roller group of two adjacent groups first
Relatively；N is the integer more than 1.
Preferably, described cutting mechanism include second feed roller group, clamp assembly, the first guide rail, cutting head,
Second motor and the 3rd motor；Second feed roller group is fixedly connected on the top of support, and is fed roller group with first
Parallel, clamp assembly is fixedly connected on support, and below the second feed roller group；Cutting head is connected to by the first sliding block
On first guide rail, the second motor is fixedly connected on the first sliding block, and the second motor is connected with cutting head, and drive is cut
Cut head rotation；3rd motor is connected on support, and the 3rd motor is connected with the first sliding block, drives the first sliding block edge to lead
Rail is moved；One edge of cutting head is located in clamp assembly or through clamp assembly.
Preferably, described clamp assembly includes being respectively fixedly connected with the first location-plate on support, second
Location-plate and the 3rd location-plate, the second location-plate and the 3rd location-plate are located at the same side of the first location-plate, and the second location-plate
And the 3rd have gap between location-plate, the gap of an edge of cutting head through the second location-plate and the 3rd location-plate.
Preferably, described second feed roller group includes the second power roller, second tested the speed roller and the 4th driving electricity
Machine, the second power roller and second tests the speed between roller and has gap, and the width in the gap is more than or equal to the thickness of adhesive tape, the 4th driving
The power output shaft of motor is connected with the second power roller；Second test the speed roller signal output part and buffer control system signal it is defeated
Enter end connection；The power signal output end of buffer control system is connected with the 4th driving motor signal input.
Preferably, described stacking mechanism includes the second guide rail, the 3rd guide rail, vertical mobility framework, the 5th drive
Dynamic motor, the 6th motor and the 3rd feed roller group；Second guide rail is connected on support vertically, and vertical mobility framework passes through
Two sliding blocks are connected on the second guide rail, and the 5th motor is fixedly connected on support, and the 5th motor and the second sliding block
Connection, drives the second sliding block to move up and down；3rd guide rail is fixedly connected in vertical mobility framework, and the 3rd feed roller group passes through the
Three sliding blocks are connected with the 3rd guide rail, and the 6th motor is fixedly connected on support, and the 6th motor and the 3rd sliding block connect
Connect, drive the 3rd sliding block to move horizontally.
Preferably, described 3rd feed roller group includes the 3rd power roller, the 3rd tested the speed roller and the 7th driving electricity
Machine, the 3rd power roller, the 3rd test the speed between roller and have gap, and the width in the gap is more than or equal to the thickness of adhesive tape, the 7th driving
The power output shaft of motor is connected with the 3rd power roller；3rd test the speed roller signal output part and buffer control system signal it is defeated
Enter end connection；The power signal output end of buffer control system is connected with the 7th motor signal input part.
Preferably, described loader mechanism includes roller path and tape dispenser, and tape dispenser is conveyed positioned at roll-type
On machine, and tape dispenser is located at below vertical mobility framework.
Beneficial effect：Compared with prior art, technical scheme has advantages below：
（1）The automation of lamination process is realized, and improves lamination quality.The device of the embodiment of the present invention perceives lamination more for
Device, the characteristics of with Cartesian robot, by accurately controlling Three Degree Of Freedom（I.e. oscilaltion, left and right translation, feed
The upset of roller）The movement position and speed of Cartesian robot, realize the automation of lamination process, and improve lamination quality.
（2）The device of the present invention adds unexistent laminated structure and buffer gear under the conditions of conduit artificial complex, realizes two
Rubber preparing device between individual lamination stacking is worked continuously with lamination robot, can improve yield.
（3）Graphical film lamination programming technique based on man-machine interaction, the control of different stack lengths, during stack motion
Polling power controlling, to avoid the internal positive feedback that many motor operating disorders are caused.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the structural representation of buffer gear in the embodiment of the present invention；
Fig. 3 is the structural representation of cutting mechanism in the embodiment of the present invention；
Fig. 4 is the structural representation of stacking mechanism in the embodiment of the present invention；
Fig. 5 is the structural representation of loader mechanism in the embodiment of the present invention.
Have in figure：Buffer gear 1, cutting mechanism 2, stacking mechanism 3, loader mechanism 4, support 5, first feed roller group 101,
Distance measuring sensor 102, the first power roller 103, first test the speed the feed of roller 104, second roller group 201, clamp assembly 202, first lead
Rail 203, cutting head 204, the second power roller 2011, second test the speed roller 2012, the first location-plate 2021, the second location-plate 2022,
3rd location-plate 2023, the second guide rail 301, the 3rd guide rail 302, the feed roller group the 304, the 3rd of vertical mobility framework the 303, the 3rd are moved
Power roller the 3041, the 3rd tests the speed roller 3042, roller path 401, tape dispenser 402.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is described in detail.
As shown in figure 1, one kind of the embodiment of the present invention perceives rubber lamination robot device, the device includes buffer
Structure 1, cutting mechanism 2, stacking mechanism 3, loader mechanism 4 and support 5, buffer gear 1 are laid in one end of support 5, cutting mechanism
2nd, stacking mechanism 3 and loader mechanism 4 are laid in the other end of support 5, and cutting mechanism 2, stacking mechanism 3 and loader mechanism 4 from
It is upper to lay successively downwards.
Rubber is extruded from film production line, plastic band.Then many perception rubber lamination robots of said structure are utilized
Device, is transported after adhesive tape is superimposed.Buffer gear 1 is used to comb adhesive tape.Stacking mechanism 3 is used to be overlapped adhesive tape arrangement.
Cutting mechanism 2 is used for dicing tape.After adhesive tape superposition is finished, with the dicing tape of cutting mechanism 2.Loader mechanism 4 is used for will be folded
Plus after adhesive tape transport.In whole work process, it is not necessary to artificial operation, it can be completed, carried significantly using the robot device
High operating efficiency.
In the above-described embodiments, as a kind of preferred structure, as shown in Fig. 2 described buffer gear 1 includes being arranged in pairs
The first feed roller group 101, distance measuring sensor 102 and buffer control system.First feed roller group 101 is connected to by connector
The top of support 5.The feed roller group 101 of each pair first includes the first power roller 103, first tested the speed the motor of roller 104 and first.
First power roller 103 and first tests the speed between roller 104 and has gap, and the width in the gap is more than or equal to the thickness of adhesive tape.Adhesive tape
From the first power roller 103 and first test the speed roller 104 between gap pass through.The power output shaft of first motor and first is moved
Power roller 103 is connected.First motor is used for the rotary speed for controlling power roller 103, and then controls the amount of feeding of adhesive tape.Ranging
Sensor 102 is fixedly connected on the bottom of support 5.The signal output part of distance measuring sensor 102 and the signal of buffer control system
Input is connected, and the power signal output end of buffer control system is connected with the first motor signal input part, and test the speed roller 104
Signal output part and buffer control system signal input part connect.Buffer control system is unique control of whole device
Center, controls the speed and progress of whole lamination.
In the above-described embodiments, the first described feed roller group 101 is n groups, and the feed roller group 101 of n groups first is parallel to each other
It is laid in the top of support 5；Described distance measuring sensor 102 is n-1；Each distance measuring sensor 102 is supplied with two adjacent groups first
Expect that the space between roller group 101 is relative；N is the integer more than 1.Preferably, n is equal to 4.
When adhesive tape is inserted in buffer gear 1, adhesive tape is worn downwards from the space of first group of first feed roller group 101 first
Go out, when adhesive tape is close to frame bottom, bend towards second group of first feed roller group 101, and supplied from the top down through second group first
Expect the space of roller group 101, meanwhile, adhesive tape is ridden in power roller 103, and power is provided by power roller 103, drives adhesive tape to moving down
It is dynamic；When adhesive tape is close to frame bottom, adhesive tape bends towards the 3rd group of first feed roller group 101, and from the top down through the 3rd group the
One feed roller group 101 space, meanwhile, adhesive tape is ridden in power roller 103, by power roller 103 provide power, drive adhesive tape to
Lower movement；Lay successively, until adhesive tape bends towards last group first and is fed roller group 101, and roller group is fed from last group first
101 top is passed through, and the power roller 103 being fed by last group first in roller group 101 provides power, drives adhesive tape level to move
It is dynamic.
First feed roller group 101 provides power for the movement of adhesive tape, while carrying out arranging before lamination to adhesive tape.
Adhesive tape after arrangement is in continuous S-shaped in buffer gear 1.Distance measuring sensor 102 arrives ground for measuring adhesive tape bottommost
Distance.The roller 104 that tests the speed is used to measure the speed into feed roller adhesive tape.Distance measuring sensor 102 and the letter tested the speed measured by roller 104
Number it is input in buffer control system, after buffer control system analysis is calculated, controls the running power of the first motor, and then
Control the rotating speed of power roller 103, the amount of feeding of final adjustment adhesive tape.
The information of collection is transmitted to buffer control system by distance measuring sensor 102, and buffer control system is analyzed after the information, meter
Suitable speed is calculated, the running speed of the first motor is adjusted, and then control the velocity of rotation of the first power roller 103.Test the speed
The velocity information of collection is transmitted to buffer control system by roller 104, and buffer control system carries out research and application to the information, to control
The adhesive tape amount of buffer gear 1.
Preferably, as shown in figure 3, described cutting mechanism 2 includes the second feed roller group 201, clamp assembly
202nd, the first guide rail 203, cutting head 204, the second motor and the 3rd motor.Second feed roller group 201 is fixedly connected
On the top of support 5, and it is parallel with the first feed roller group 101, clamp assembly 202 is fixedly connected on support 5, and positioned at second
It is fed the lower section of roller group 201.Cutting head 204 is connected on the first guide rail 203 by the first sliding block, and the second motor is fixedly connected
On the first sliding block, and the second motor is connected with cutting head 204, drives cutting head 204 to rotate.3rd motor is connected
On support, the 3rd motor is connected with the first sliding block, drives the first sliding block to be moved along guide rail 203.One side of cutting head 204
Edge is located in clamp assembly 202 or through clamp assembly 202.
The adhesive tape come from buffer gear 1, the gap through in the second feed roller group 201.In the second feed roller group 201
The second power roller 2011 in the presence of, adhesive tape continues to move down, into clamp assembly 202.When needing dicing tape,
The first sliding block is driven using the 3rd motor, drives the first sliding block to be moved along guide rail 203, while utilizing the second motor band
Dynamic cutting head 204 rotates, so that adhesive tape be separated.When not needing dicing tape, adhesive tape is only worn from clamp assembly 202
Cross, cutting head 204 does not carry out cutting operation to adhesive tape.The operation of second motor and the 3rd motor can be by cushioning control
System is controlled.
As preferred structure, in cutting mechanism 2, described clamp assembly 202 includes being respectively fixedly connected with support 5
The first location-plate 2021, the second location-plate 2022 and the 3rd location-plate 2023, the second location-plate 2022 and the 3rd location-plate
2023 are located at the same side of the first location-plate 2021, and have gap between the second location-plate 2022 and the 3rd location-plate 2023, cut
Cut the gap of first 204 edge through the second location-plate 2022 and the 3rd location-plate 2023.The He of second location-plate 2022
3rd location-plate is laid about 2023.Between the second location-plate 2022 and the 3rd location-plate 2023 be provided with gap, be in order to
The feed of cutting head 204 provides space so that cutting head 204 can touch adhesive tape, and then adhesive tape is cut.First determines
Gap width between the location-plate 2022 of plate 2021 and second of position is more than or equal to the thickness of adhesive tape so that adhesive tape can be through folder
Tight component 202.
In cutting mechanism 2, described second feed roller group 201 includes the second power roller 2011, second tested the speed roller 2012
With the 4th motor, the second power roller 2011 and second tests the speed between roller 2012 and has gap, and the width in the gap is more than or waited
In the thickness of adhesive tape, the power output shaft of the 4th motor is connected with the second power roller 2011.Second letter for testing the speed roller 2012
The signal input part of number output end and buffer control system is connected；The power signal output end of buffer control system and the 4th driving
Motor signal input is connected.
The speed of collection is transmitted to buffer control system by second roller 2012 that tests the speed, and buffer control system is divided the information
Analysis monitoring, to control the adhesive tape amount of buffering area, buffer control system adjusts the running speed of the 4th motor, and then controls the
The velocity of rotation of two power rollers 2011.
As preferred structure, as shown in figure 4, described stacking mechanism 3 includes the second guide rail 301, the 3rd guide rail 302, lead
Vertical mobility framework 303, the 5th motor, the 6th motor and the 3rd feed roller group 304；Second connection vertically of guide rail 301
On support 5, vertical mobility framework 303 is connected on the second guide rail 301 by the second sliding block, and the 5th motor is fixedly connected
On support 5, and the 5th motor is connected with the second sliding block, drives the second sliding block to move up and down；3rd guide rail 302, which is fixed, to be connected
It is connected in vertical mobility framework 303, the 3rd feed roller group 304 is connected by the 3rd sliding block with the 3rd guide rail 302, the 6th driving electricity
Machine is fixedly connected on support 5, and the 6th motor is connected with the 3rd sliding block, drives the 3rd sliding block to move horizontally.
The adhesive tape that clamp assembly 202 is passed through from cutting mechanism 2, roller group is fed into stacking mechanism 3, and through the 3rd
Gap in 304.In stacking mechanism 3, vertical mobility framework 303 can be moved up and down along the second guide rail 301.When adhesive tape lamination knot
Beam is, it is necessary to which during the lamination of a new round, vertical mobility framework 303 is moved upwards up to extreme higher position along the second guide rail 301, will be from clamping
The adhesive tape passed in component 202 is penetrated in the gap of the 3rd feed roller group 304, and then vertical mobility framework 303 is along the second guide rail
301 are moved down into extreme lower position, start the 6th motor, and the 6th motor drives the 3rd to be fed roller group 304 along level
Direction is moved left and right, so as to realize the lamination of adhesive tape.When vertical mobility framework 303 be moved down into along the second guide rail 301 it is minimum
During position, start the 6th motor, advantageously reduce the amplitude swung during adhesive tape lamination.Certainly, vertical mobility framework 303 can
In the highest position of the second guide rail 301, to start the 6th motor, realize the lamination of adhesive tape.5th motor and
The operation of six motors can be by buffer control system control.
In stacking mechanism 3, described 3rd feed roller group 304 tests the speed roller 3042 including the 3rd power roller the 3041, the 3rd
With the 7th motor, the 3rd power roller the 3041, the 3rd, which tests the speed between roller 3042, gap, and the width in the gap is more than or equal to
The thickness of adhesive tape, the power output shaft of the 7th motor is connected with the 3rd power roller 2011.3rd signal for testing the speed roller 3042
The signal input part connection of output end and buffer control system；The power signal output end of buffer control system and the 7th driving electricity
Machine signal input part is connected.
The velocity information of collection is transmitted to buffer control system by the 3rd roller 3042 that tests the speed, and buffer control system enters to the information
Row research and application, to control the adhesive tape amount of buffering area, buffer control system adjusts the running speed of the 7th motor, and then controls
Make the velocity of rotation of the 3rd power roller 3041.
As preferred structure, as shown in figure 5, described loader mechanism 4 includes roller path 401 and tape dispenser 402, glue
Tape holder 402 is located on roller path 401, and tape dispenser 402 is located at the lower section of vertical mobility framework 303.Tape dispenser 402 is used to contain
Put the adhesive tape after lamination.When adhesive tape is laminated to certain thickness, adhesive tape is cut using cutting mechanism 2.Roller path 401 will
Tape dispenser 402 transports next station.
Adhesive tape is deposited in many perception rubber lamination robot devices of the embodiment of the present invention, buffer gear 1, material buffer is played
Effect.Cutting mechanism 2 clamps and releases adhesive tape, and cutting head 204 is cut to adhesive tape.As shown in figure 4, the adhesive tape being already filled with
Frame 402 is removed by roller path 401.Each moving component contains servomotor controller and speed measuring coder, to lamination
Automated condtrol is carried out, lamination quality is improved.
The first 101 pairs of roller group of feed in many perception rubber lamination robot devices of the embodiment of the present invention, buffer gear
The adhesive tape of storage carries out cushioning effect, and adhesive tape enters in the clamp assembly 202 of cutting mechanism.When needing cutting, led by first
Rail drives cutting head 9 to cut adhesive tape, and the adhesive tape after cutting enters in laminated structure.When that need not cut, adhesive tape from
Clamp assembly 202 enters in laminated structure.3rd feed roller group 304 is moved left and right along the 3rd guide rail 302, to adhesive tape in tape dispenser
Upper carry out lamination.After the completion of lamination, removed by roller path 401.
Claims (8)
1. a kind of many perception rubber lamination robot devices, it is characterised in that the device includes buffer gear (1), cutting mechanism
(2), stacking mechanism (3), loader mechanism (4) and support (5), buffer gear (1) are laid in one end of support (5), cutting mechanism
(2), stacking mechanism (3) and loader mechanism (4) are laid in the other end of support (5), and cutting mechanism (2), stacking mechanism (3) and
Loader mechanism (4) is laid successively from the top down；
Described buffer gear (1) includes the first feed roller group (101), distance measuring sensor (102) and the buffering control being arranged in pairs
System processed, the first feed roller group (101) is connected to the top of support (5), the feed roller group of each pair first (101) bag by connector
Power roller (103), the roller that tests the speed (104) and the first motor are included, has gap between power roller (103) and the roller that tests the speed (104), should
The width in gap is more than or equal to the thickness of adhesive tape, and the power output shaft of the first motor is connected with power roller (103)；Ranging
Sensor (102) is fixedly connected on the bottom of support (5)；
The signal output part of distance measuring sensor (102) and the signal input part of buffer control system are connected, buffer control system
Power signal output end is connected with the first motor signal input part, the signal output part and cushioning control of the roller that tests the speed (104)
The signal input part connection of system.
2. according to many perception rubber lamination robot devices described in claim 1, it is characterised in that the first described feed roller
Group (101) is n groups, and the feed roller group of n groups first (101), which is parallel to each other, to be laid at the top of support (5)；Described distance measuring sensor
(102) it is n-1；Space between each distance measuring sensor (102) is fed roller group (101) with two adjacent groups first is relative；N is
Integer more than 1.
3. according to many perception rubber lamination robot devices described in claim 1, it is characterised in that described cutting mechanism
(2) the second feed roller group (201), clamp assembly (202), the first guide rail (203), cutting head (204), the second motor are included
With the 3rd motor；Second feed roller group (201) is fixedly connected on the top of support (5), and is fed roller group (101) with first
Parallel, clamp assembly (202) is fixedly connected on support (5), and below the second feed roller group (201)；Cutting head (204)
It is connected to by the first sliding block on the first guide rail (203), the second motor is fixedly connected on the first sliding block, and the second driving
Motor is connected with cutting head (204), drives cutting head (204) rotation；3rd motor is connected on support, the 3rd driving electricity
Machine is connected with the first sliding block, drives the first sliding block mobile along the first guide rail (203)；One edge of cutting head (204), which is located at, to be clamped
In component (202) or through clamp assembly (202).
4. according to many perception rubber lamination robot devices described in claim 3, it is characterised in that described clamp assembly
(202) the first location-plate (2021), the second location-plate (2022) and the 3rd positioning being respectively fixedly connected with support (5) are included
Plate (2023), the second location-plate (2022) and the 3rd location-plate (2023) are located at the same side of the first location-plate (2021), and the
There is gap between two location-plates (2022) and the 3rd location-plate (2023), an edge of cutting head (204) passes through the second location-plate
(2022) gap between the 3rd location-plate (2023).
5. according to many perception rubber lamination robot devices described in claim 3, it is characterised in that the second described feed roller
Group (201) includes the second power roller (2011), second tested the speed roller (2012) and the 4th motor, the second power roller (2011) and
Second, which tests the speed between roller (2012), gap, and the width in the gap is more than or equal to the thickness of adhesive tape, the 4th motor it is dynamic
Power output shaft is connected with the second power roller (2011)；Second tests the speed the signal output part of roller (2012) and the letter of buffer control system
The connection of number input；The power signal output end of buffer control system is connected with the 4th driving motor signal input.
6. according to many perception rubber lamination robot devices described in claim 1, it is characterised in that described stacking mechanism
(3) the second guide rail (301), the 3rd guide rail (302), vertical mobility framework (303), the 5th motor, the 6th driving electricity are included
Machine and the 3rd feed roller group (304)；Second guide rail (301) is connected on support (5) vertically, and vertical mobility framework (303) passes through
Second sliding block is connected on the second guide rail (301), and the 5th motor is fixedly connected on support (5), and the 5th motor
It is connected with the second sliding block, drives the second sliding block to move up and down；3rd guide rail (302) is fixedly connected on vertical mobility framework (303)
On, the 3rd feed roller group (304) is connected by the 3rd sliding block with the 3rd guide rail (302), and the 6th motor is fixedly connected on branch
On frame (5), and the 6th motor is connected with the 3rd sliding block, drives the 3rd sliding block to move horizontally.
7. according to many perception rubber lamination robot devices described in claim 6, it is characterised in that the 3rd described feed roller
Group (304) includes the 3rd power roller (3041), the 3rd tested the speed roller (3042) and the 7th motor, the 3rd power roller (3041),
3rd, which tests the speed between roller (3042), gap, and the width in the gap is more than or equal to the thickness of adhesive tape, the 7th motor it is dynamic
Power output shaft is connected with the 3rd power roller (2011)；
3rd test the speed roller (3042) signal output part and buffer control system signal input part connect；Buffer control system
Power signal output end is connected with the 7th motor signal input part.
8. according to many perception rubber lamination robot devices described in claim 1, it is characterised in that described loader mechanism
(4) roller path (401) and tape dispenser (402) are included, tape dispenser (402) is located on roller path (401), and tape dispenser
(402) it is located at below vertical mobility framework (303).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510925121.1A CN105480729B (en) | 2015-12-14 | 2015-12-14 | A kind of many perception rubber lamination robot devices |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510925121.1A CN105480729B (en) | 2015-12-14 | 2015-12-14 | A kind of many perception rubber lamination robot devices |
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| CN105480729A CN105480729A (en) | 2016-04-13 |
| CN105480729B true CN105480729B (en) | 2017-07-28 |
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|---|---|---|---|---|
| CN105961139A (en) * | 2016-07-13 | 2016-09-28 | 武汉市享昱科技有限公司 | Control system of automatic rubber tapping robot |
| CN109967209B (en) * | 2019-04-01 | 2024-01-30 | 青岛创客机械设备制造有限公司 | Needle dial rubber tapping machine |
| CN113562529B (en) * | 2021-08-02 | 2024-05-07 | 苏州德崧净化有限公司 | Reciprocating mechanism |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4074901A (en) * | 1977-03-31 | 1978-02-21 | Frank Catallo | Folder for web materials |
| JP2804235B2 (en) * | 1994-11-29 | 1998-09-24 | 住友ゴム工業株式会社 | Rubber sheet cooling device for tire components |
| US6857629B2 (en) * | 2003-02-06 | 2005-02-22 | Charles W. Fritz | Automated reciprocal stacking assembly |
| JP2012041171A (en) * | 2010-08-23 | 2012-03-01 | Bridgestone Corp | Method and device for folding/loading belt-like rubber member |
| CN202670876U (en) * | 2012-08-04 | 2013-01-16 | 威海三方橡胶机械有限公司 | Device capable of automatically collecting glue |
| CN204111035U (en) * | 2014-07-25 | 2015-01-21 | 桐乡市中泰纺织练染有限公司 | A kind of cloth cloth laying device |
| CN104309898A (en) * | 2014-08-20 | 2015-01-28 | 长沙新气象自动化技术有限公司 | Resistance tape folding boxing machine |
| CN204607203U (en) * | 2015-05-18 | 2015-09-02 | 福建省明信橡塑有限公司 | Folded film device in a kind of belt films cooling system |
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