CN105480729B - A multi-sensory raw rubber lamination robot device - Google Patents

Abstract

The invention discloses a multi-sensing raw rubber lamination robot device, which comprises a buffer mechanism, a cutting mechanism, a lamination mechanism, a loading mechanism and a bracket, the buffer mechanism is arranged at one end of the bracket, and the cutting mechanism, the lamination mechanism and the loading mechanism It is arranged at the other end of the support, and the cutting mechanism, lamination mechanism and loading mechanism are arranged sequentially from top to bottom. The device can realize automatic lamination, and improves lamination efficiency and quality.

Description

A multi-sensory raw rubber lamination robot device

technical field

The invention relates to a robot, in particular to a multi-sensory raw rubber lamination robot device.

Background technique

At present, the main process of lamination of raw rubber is as follows: a forklift truck forks the laminations into place, the raw rubber is extruded from the film production line, the extrusion device is located above the lamination area, the laminations are manually stacked to a certain height, the film is cut off, and the forklift Fork away the film stack and start the next cycle. The main problems in this method are that the stacking of the film is not neat and messy; the workers simply repeat the work, and the working environment affects health due to high temperature and odor. Therefore, it is necessary to improve production conditions and realize automatic or unmanned production.

Contents of the invention

Technical problem: The technical problem to be solved by the present invention is to provide a multi-sensory raw rubber lamination robot device, which can realize automatic lamination and improve lamination efficiency and quality.

Technical scheme: in order to solve the above technical problems, the technical scheme adopted in the present invention is:

A multi-sensory raw rubber lamination robot device, the device includes a buffer mechanism, a cutting mechanism, a lamination mechanism, a loading mechanism and a bracket, the buffer mechanism is arranged at one end of the bracket, and the cutting mechanism, the lamination mechanism and the loading mechanism are arranged at the side of the bracket The other end, and the cutting mechanism, stacking mechanism and loading mechanism are arranged sequentially from top to bottom.

As a preferred solution, the buffer mechanism includes a pair of first feed rollers, a range sensor and a buffer control system, the first feed rollers are connected to the top of the bracket through a connecting piece, and each pair of first feed rollers The roller set includes a power roller, a speed measuring roller and a first driving motor. There is a gap between the power roller and the speed measuring roller. The width of the gap is greater than or equal to the thickness of the tape. The power output shaft of the first driving motor is connected to the power roller; The sensor is fixedly connected to the bottom of the support; the signal output end of the distance measuring sensor is connected with the signal input end of the buffer control system, the power signal output end of the buffer control system is connected with the signal input end of the first drive motor, and the signal output end of the speed measuring roller is connected with the signal input end of the buffer control system. The signal input terminal connection of the buffer control system.

As a preferred solution, the first feed roller group is n groups, and the n groups of first feed roller groups are arranged parallel to each other on the top of the support; the number of distance measuring sensors is n-1; each distance measuring sensor is connected to The gaps between two adjacent groups of first supply roller groups are opposite; n is an integer greater than 1.

As a preferred solution, the cutting mechanism includes a second feed roller set, a clamping assembly, a first guide rail, a cutting head, a second drive motor and a third drive motor; the second feed roll set is fixedly connected to the top of the bracket , and parallel to the first feeding roller group, the clamping assembly is fixedly connected to the bracket, and is located below the second feeding roller group; the cutting head is connected to the first guide rail through the first slider, and the second driving motor is fixedly connected to On the first slider, the second driving motor is connected with the cutting head to drive the cutting head to rotate; the third driving motor is connected to the bracket, and the third driving motor is connected to the first slider to drive the first slider to move along the guide rail ; An edge of the cutting head is located in or through the clamping assembly.

As a preferred solution, the clamping assembly includes a first positioning plate, a second positioning plate and a third positioning plate fixedly connected to the bracket respectively, and the second positioning plate and the third positioning plate are located on the same side of the first positioning plate , and there is a gap between the second positioning plate and the third positioning plate, and an edge of the cutting head passes through the gap between the second positioning plate and the third positioning plate.

As a preferred solution, the second set of feed rollers includes a second power roller, a second speed measuring roller and a fourth driving motor, there is a gap between the second power roller and the second speed measuring roller, and the width of the gap is greater than or equal to The thickness of the tape, the power output shaft of the fourth drive motor is connected to the second power roller; the signal output end of the second speed measuring roller is connected to the signal input end of the buffer control system; the power signal output end of the buffer control system is connected to the fourth drive motor Signal input connection.

As a preferred solution, the lamination mechanism includes a second guide rail, a third guide rail, a vertically moving frame, a fifth drive motor, a sixth drive motor and a third feed roller set; the second guide rail is vertically connected to the bracket , the vertical moving frame is connected to the second guide rail through the second slider, the fifth driving motor is fixedly connected to the bracket, and the fifth driving motor is connected to the second slider to drive the second slider to move up and down; the third guide rail Fixedly connected to the vertical moving frame, the third feed roller group is connected to the third guide rail through the third slider, the sixth driving motor is fixedly connected to the bracket, and the sixth driving motor is connected to the third slider to drive the Three sliders to move horizontally.

As a preferred solution, the third set of feed rollers includes a third power roller, a third speed measuring roller, and a seventh drive motor, and there is a gap between the third power roller and the third speed measuring roller, and the width of the gap is greater than or equal to The thickness of the tape, the power output shaft of the seventh drive motor is connected to the third power roller; the signal output end of the third speed measuring roller is connected to the signal input end of the buffer control system; the power signal output end of the buffer control system is connected to the seventh drive motor Signal input connection.

As a preferred solution, the loading mechanism includes a roller conveyor and a tape rack, the tape rack is located on the roller conveyor, and the tape rack is located below the vertical moving frame.

Beneficial effects: compared with the prior art, the technical solution of the present invention has the following advantages:

(1) Realize the automation of the lamination process and improve the lamination quality. The device of the embodiment of the present invention is a multi-sensory lamination device, which has the characteristics of a Cartesian robot. By precisely controlling the movement position and speed of the Cartesian robot with three degrees of freedom (ie, up and down, left and right translation, and flipping of the feeding roller), Realize the automation of the lamination process and improve the lamination quality.

(2) The device of the present invention adds a lamination mechanism and a buffer mechanism that are not available under manual lamination conditions, and realizes the continuous operation of the rubber mixing equipment and the lamination robot between the two lamination pallets, which can increase the output.

(3) Graphical film lamination programming technology based on human-computer interaction, control of different lamination lengths, and traction control during lamination movement to avoid internal positive feedback caused by multi-motor work imbalance.

Description of drawings

Fig. 1 is the structural representation of the embodiment of the present invention;

Fig. 2 is a schematic structural view of a buffer mechanism in an embodiment of the present invention;

Fig. 3 is a schematic structural view of a cutting mechanism in an embodiment of the present invention;

Fig. 4 is a schematic structural view of the stacking mechanism in an embodiment of the present invention;

Fig. 5 is a structural schematic diagram of the loading mechanism in the embodiment of the present invention.

In the figure, there are: buffer mechanism 1, cutting mechanism 2, stacking mechanism 3, loading mechanism 4, bracket 5, first feeding roller group 101, distance measuring sensor 102, first power roller 103, first speed measuring roller 104, the first Two feeding roller sets 201, clamping assembly 202, first guide rail 203, cutting head 204, second power roller 2011, second speed measuring roller 2012, first positioning plate 2021, second positioning plate 2022, third positioning plate 2023 , The second guide rail 301, the third guide rail 302, the vertical moving frame 303, the third supply roller group 304, the third power roller 3041, the third speed measuring roller 3042, the roller conveyor 401, the tape rack 402.

detailed description

The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, a multi-sensory raw rubber lamination robot device according to an embodiment of the present invention includes a buffer mechanism 1, a cutting mechanism 2, a lamination mechanism 3, a loading mechanism 4 and a bracket 5, and the buffer mechanism 1 is arranged on One end of the bracket 5, the cutting mechanism 2, the stacking mechanism 3 and the loading mechanism 4 are arranged at the other end of the bracket 5, and the cutting mechanism 2, the stacking mechanism 3 and the loading mechanism 4 are arranged sequentially from top to bottom.

Raw rubber is extruded from the film production line into tapes. Then use the multi-sensory raw rubber lamination robot device with the above structure to stack the tapes and transport them out. Buffer mechanism 1 is used for carding tape. The stacking mechanism 3 is used for stacking and sorting the adhesive tapes. The cutting mechanism 2 is used for cutting the adhesive tape. After the adhesive tapes have been stacked, the adhesive tapes are cut with the cutting mechanism 2 . The loading mechanism 4 is used for transporting out the stacked adhesive tapes. In the whole work process, no manual operation is required, and the robot device can be used to complete the work, which greatly improves the work efficiency.

In the above embodiment, as a preferred structure, as shown in FIG. 2 , the buffer mechanism 1 includes a pair of first supply roller set 101 , a distance measuring sensor 102 and a buffer control system. The first feed roller set 101 is connected to the top of the support 5 through a connecting piece. Each pair of first supply roller sets 101 includes a first power roller 103 , a first speed measuring roller 104 and a first driving motor. There is a gap between the first power roller 103 and the first speed measuring roller 104, and the width of the gap is greater than or equal to the thickness of the adhesive tape. The tape passes through the gap between the first power roller 103 and the first speed measuring roller 104 . The power output shaft of the first driving motor is connected with the first power roller 103 . The first driving motor is used to control the rotation speed of the power roller 103, and then control the feeding amount of the adhesive tape. The ranging sensor 102 is fixedly connected to the bottom of the bracket 5 . The signal output end of the ranging sensor 102 is connected to the signal input end of the buffer control system, the power signal output end of the buffer control system is connected to the first drive motor signal input end, and the signal output end of the speed measuring roller 104 is connected to the signal input end of the buffer control system. end connection. The buffer control system is the only control center of the whole device, controlling the speed and progress of the whole lamination.

In the above-mentioned embodiment, the first feeding roller group 101 is n groups, and the n groups of first feeding roller groups 101 are arranged parallel to each other on the top of the support 5; the number of distance measuring sensors 102 is n-1; Each distance measuring sensor 102 is opposite to the gap between two adjacent sets of first supply roller sets 101 ; n is an integer greater than 1. Preferably, n is equal to 4.

When the adhesive tape is put into the buffer mechanism 1, the adhesive tape first passes downwards from the gap of the first group of first supply rollers 101, and when the adhesive tape is close to the bottom of the support, it bends to the second group of first supply rollers 101 , and pass through the gap of the second group of first feeding rollers 101 from top to bottom, at the same time, the adhesive tape rides on the power roller 103, relies on the power roller 103 to provide power, and drives the adhesive tape to move downward; when the adhesive tape is close to the bottom of the bracket , the adhesive tape bends to the third group of the first supply roller group 101, and passes through the gap of the third group of the first supply roller group 101 from top to bottom. power, drive the adhesive tape to move down; lay out in sequence until the adhesive tape bends to the last set of first feed rollers 101, and passes through the top of the last set of first feed rollers 101, relying on the last set of first feed rollers The power roller 103 in the material roller set 101 provides power to drive the tape to move horizontally.

The first supply roller set 101 provides power for the movement of the adhesive tape and at the same time arranges the adhesive tape before lamination. The sorted adhesive tape is in a continuous S-shape in the buffer mechanism 1 . The distance measuring sensor 102 is used to measure the distance from the bottom of the tape to the ground. The speed measuring roller 104 is used to measure the speed of the adhesive tape entering the supply roller. The signals measured by the ranging sensor 102 and the speed measuring roller 104 are input into the buffer control system. After the buffer control system analyzes and calculates, it controls the operating power of the first drive motor, and then controls the speed of the power roller 103, and finally adjusts the feeding of the tape. quantity.

The ranging sensor 102 transmits the collected information to the buffer control system. After analyzing the information, the buffer control system calculates an appropriate speed, adjusts the running speed of the first driving motor, and then controls the rotating speed of the first power roller 103 . The speed measuring roller 104 transmits the collected speed information to the buffer control system, and the buffer control system analyzes and monitors the information to control the tape amount of the buffer mechanism 1 .

As a preferred solution, as shown in FIG. 3 , the cutting mechanism 2 includes a second supply roller set 201 , a clamping assembly 202 , a first guide rail 203 , a cutting head 204 , a second driving motor and a third driving motor. The second supply roller set 201 is fixedly connected to the top of the support 5 and parallel to the first supply roller set 101 . The clamping assembly 202 is fixedly connected to the support 5 and located below the second supply roller set 201 . The cutting head 204 is connected to the first guide rail 203 through the first slider, the second driving motor is fixedly connected to the first slider, and the second driving motor is connected to the cutting head 204 to drive the cutting head 204 to rotate. The third drive motor is connected to the bracket, and the third drive motor is connected to the first slider to drive the first slider to move along the guide rail 203 . An edge of the cutting head 204 is positioned in or through the clamping assembly 202 .

The adhesive tape coming from the buffer mechanism 1 passes through the gap in the second feeding roller group 201 . Under the action of the second power roller 2011 in the second supply roller set 201 , the adhesive tape continues to move downward and enters the clamping assembly 202 . When the tape needs to be cut, the third drive motor is used to drive the first slider to move along the guide rail 203, and the second drive motor is used to drive the cutting head 204 to rotate, thereby cutting off the tape. When there is no need to cut the tape, the tape only passes through the clamping assembly 202, and the cutting head 204 does not cut the tape. The operation of the second drive motor and the third drive motor may be controlled by a buffer control system.

As a preferred structure, in the cutting mechanism 2, the clamping assembly 202 includes a first positioning plate 2021, a second positioning plate 2022 and a third positioning plate 2023 fixedly connected to the bracket 5, the second positioning plate 2022 and The third positioning plate 2023 is located on the same side of the first positioning plate 2021, and there is a gap between the second positioning plate 2022 and the third positioning plate 2023, and an edge of the cutting head 204 passes through the second positioning plate 2022 and the third positioning plate gap between 2023. The second positioning plate 2022 and the third positioning plate 2023 are arranged up and down. A gap is provided between the second positioning plate 2022 and the third positioning plate 2023 to provide space for the feeding of the cutting head 204, so that the cutting head 204 can contact the adhesive tape and then cut the adhesive tape. The width of the gap between the first positioning plate 2021 and the second positioning plate 2022 is greater than or equal to the thickness of the adhesive tape, so that the adhesive tape can pass through the clamping assembly 202 .

In the cutting mechanism 2, the second supply roller group 201 includes a second power roller 2011, a second speed measuring roller 2012 and a fourth driving motor, and there is a gap between the second power roller 2011 and the second speed measuring roller 2012, The width of the gap is greater than or equal to the thickness of the tape, and the power output shaft of the fourth drive motor is connected to the second power roller 2011 . The signal output end of the second speed measuring roller 2012 is connected to the signal input end of the buffer control system; the power signal output end of the buffer control system is connected to the signal input end of the fourth drive motor.

The second speed measuring roller 2012 transmits the collected speed to the buffer control system. The buffer control system analyzes and monitors the information to control the amount of tape in the buffer zone. The buffer control system adjusts the running speed of the fourth drive motor to control the second power. The rotational speed of the roller 2011.

As a preferred structure, as shown in Figure 4, the lamination mechanism 3 includes a second guide rail 301, a third guide rail 302, a vertical moving frame 303, a fifth drive motor, a sixth drive motor and a third feed roller group 304; the second guide rail 301 is vertically connected on the support 5, the vertically moving frame 303 is connected on the second guide rail 301 through the second slide block, the fifth driving motor is fixedly connected on the support 5, and the fifth driving motor and the first The two sliders are connected to drive the second slider to move up and down; the third guide rail 302 is fixedly connected to the vertical moving frame 303, the third feeding roller group 304 is connected to the third guide rail 302 through the third slider, and the sixth drive motor It is fixedly connected to the bracket 5, and the sixth driving motor is connected with the third slider to drive the third slider to move horizontally.

The adhesive tape passing through the clamping assembly 202 of the cutting mechanism 2 enters the stacking mechanism 3 and passes through the gap in the third feeding roller set 304 . In the stacking mechanism 3 , the vertical moving frame 303 can move up and down along the second guide rail 301 . When the stacking of tapes ends and a new round of stacking is needed, the vertically moving frame 303 moves up to the highest position along the second guide rail 301, and the tape passed out from the clamping assembly 202 is passed into the third feed roller group 304, then the vertical moving frame 303 moves down to the lowest position along the second guide rail 301, starts the sixth driving motor, and the sixth driving motor drives the third feeding roller group 304 to move left and right in the horizontal direction, thereby realizing the tape stacks. When the vertically moving frame 303 moves down to the lowest position along the second guide rail 301, the sixth driving motor is started, which is beneficial to reduce the swing amplitude when the adhesive tapes are stacked. Of course, the vertically moving frame 303 can start the sixth driving motor at the highest position of the second guide rail 301 to realize the stacking of the adhesive tapes. The operation of the fifth drive motor and the sixth drive motor can be controlled by a buffer control system.

In the stacking mechanism 3, the third supply roller set 304 includes a third power roller 3041, a third speed measuring roller 3042 and a seventh drive motor, and there is a gap between the third power roller 3041 and the third speed measuring roller 3042 , the width of the gap is greater than or equal to the thickness of the adhesive tape, and the power output shaft of the seventh drive motor is connected to the third power roller 2011 . The signal output end of the third speed measuring roller 3042 is connected to the signal input end of the buffer control system; the power signal output end of the buffer control system is connected to the signal input end of the seventh drive motor.

The third speed measuring roller 3042 transmits the collected speed information to the buffer control system. The buffer control system analyzes and monitors the information to control the amount of adhesive tape in the buffer zone. The buffer control system adjusts the operating speed of the seventh driving motor, and then controls the third The rotation speed of the power roller 3041.

As a preferred structure, as shown in FIG. 5 , the loading mechanism 4 includes a roller conveyor 401 and a tape rack 402 , the tape rack 402 is located on the roller conveyor 401 , and the tape rack 402 is located below the vertical moving frame 303 . The adhesive tape rack 402 is used to hold the stacked adhesive tapes. When the adhesive tape is laminated to a certain thickness, the adhesive tape is cut off by the cutting mechanism 2 . The roller conveyor 401 transports the tape rack 402 to the next station.

In the multi-sensing raw rubber lamination robot device of the embodiment of the present invention, the buffer mechanism 1 stores tapes to play a material buffering role. The cutting mechanism 2 clamps and releases the adhesive tape, and the cutting head 204 cuts the adhesive tape. As shown in FIG. 4 , the filled tape rack 402 is moved out by the roller conveyor 401 . Each moving part contains a servo motor controller and a speed measuring encoder to automatically control the laminations and improve the quality of the laminations.

In the multi-sensory raw rubber lamination robot device of the embodiment of the present invention, the first feeding roller group 101 in the buffer mechanism buffers the stored tape, and the tape enters the clamping assembly 202 of the cutting mechanism. When cutting is required, the cutting head 9 is driven by the first guide rail to cut the adhesive tape, and the cut adhesive tape enters the stacking mechanism. When cutting is not required, the tape enters the lamination mechanism from the clamp assembly 202 . The third feeding roller group 304 moves left and right along the third guide rail 302 to stack the tapes on the tape frame. After the lamination is completed, it is removed by the roller conveyor 401.

Claims (8)

1. A multi-sensory raw rubber lamination robot device is characterized in that the device comprises a buffer mechanism (1), a cutting mechanism (2), a lamination mechanism (3), a loading mechanism (4) and a support (5), The buffer mechanism (1) is arranged at one end of the bracket (5), the cutting mechanism (2), the stacking mechanism (3) and the loading mechanism (4) are arranged at the other end of the bracket (5), and the cutting mechanism (2), the stacking The film mechanism (3) and the loading mechanism (4) are arranged sequentially from top to bottom; The buffer mechanism (1) includes a pair of first feeding roller group (101), a distance measuring sensor (102) and a buffer control system, and the first feeding roller group (101) is connected to the bracket ( 5) at the top, every pair of the first feeding roller group (101) includes a power roller (103), a speed measuring roller (104) and a first drive motor, there is a gap between the power roller (103) and the speed measuring roller (104), The width of the gap is greater than or equal to the thickness of the adhesive tape, and the power output shaft of the first drive motor is connected to the power roller (103); the distance measuring sensor (102) is fixedly connected to the bottom of the support (5); The signal output end of the ranging sensor (102) is connected to the signal input end of the buffer control system, the power signal output end of the buffer control system is connected to the signal input end of the first driving motor, and the signal output end of the speed measuring roller (104) is connected to the buffer control system. The signal input terminal connection of the system. 2. According to the multi-sensory raw rubber lamination robot device according to claim 1, it is characterized in that, the first feeding roller group (101) is n groups, and the first feeding roller group (101) of n groups is mutually Arranged in parallel on the top of the support (5); the number of distance measuring sensors (102) is n-1; the gap between each distance measuring sensor (102) and two adjacent groups of first feed roller groups (101) Relative; n is an integer greater than 1. 3. The multi-sensory raw rubber lamination robot device according to claim 1, characterized in that, the cutting mechanism (2) includes a second feeding roller set (201), a clamping assembly (202), a first Guide rail (203), cutting head (204), second drive motor and the 3rd drive motor; The second feeding roller group (201) is fixedly connected on the top of support (5), and with the first feeding roller group (101 ) parallel, the clamping assembly (202) is fixedly connected to the bracket (5), and is located below the second feed roller group (201); the cutting head (204) is connected to the first guide rail (203) through the first slider , the second drive motor is fixedly connected to the first slider, and the second drive motor is connected to the cutting head (204) to drive the cutting head (204) to rotate; the third drive motor is connected to the bracket, and the third drive motor is connected to the first A slider is connected to drive the first slider to move along the first guide rail (203); an edge of the cutting head (204) is located in the clamping assembly (202) or passes through the clamping assembly (202). 4. The multi-sensory raw rubber lamination robot device according to claim 3, characterized in that, the clamping assembly (202) comprises a first positioning plate (2021) fixedly connected to the support (5), respectively, The second positioning plate (2022) and the third positioning plate (2023), the second positioning plate (2022) and the third positioning plate (2023) are located on the same side of the first positioning plate (2021), and the second positioning plate (2022 ) and the third positioning plate (2023) have a gap, and an edge of the cutting head (204) passes through the gap between the second positioning plate (2022) and the third positioning plate (2023). 5. The multi-sensory raw rubber lamination robot device according to claim 3, characterized in that, the second feed roller group (201) includes a second power roller (2011), a second speed measuring roller (2012) And the fourth driving motor, there is a gap between the second power roller (2011) and the second speed measuring roller (2012), the width of this gap is greater than or equal to the thickness of the adhesive tape, the power output shaft of the fourth driving motor and the second power roller (2011) is connected; the signal output end of the second speed measuring roller (2012) is connected with the signal input end of the buffer control system; the power signal output end of the buffer control system is connected with the fourth drive motor signal input end. 6. The multi-sensory raw rubber lamination robot device according to claim 1, characterized in that, the lamination mechanism (3) comprises a second guide rail (301), a third guide rail (302), a vertically moving frame (303), the fifth drive motor, the sixth drive motor and the third supply roller group (304); the second guide rail (301) is vertically connected on the support (5), and the vertical moving frame (303) passes through the second The slide block is connected on the second guide rail (301), the fifth drive motor is fixedly connected on the support (5), and the fifth drive motor is connected with the second slide block to drive the second slide block to move up and down; the third guide rail (302 ) is fixedly connected to the vertical moving frame (303), the third feeding roller group (304) is connected to the third guide rail (302) through the third slider, and the sixth drive motor is fixedly connected to the bracket (5), and The sixth driving motor is connected with the third slider to drive the third slider to move horizontally. 7. The multi-sensory raw rubber lamination robot device according to claim 6, characterized in that, the third feeding roller group (304) includes a third power roller (3041), a third speed measuring roller (3042) And the seventh driving motor, there is a gap between the third power roller (3041) and the third speed measuring roller (3042), the width of the gap is greater than or equal to the thickness of the adhesive tape, the power output shaft of the seventh driving motor and the third power roller (2011) connect; The signal output end of the third speed measuring roller (3042) is connected to the signal input end of the buffer control system; the power signal output end of the buffer control system is connected to the signal input end of the seventh driving motor. 8. The multi-sensory raw rubber lamination robot device according to claim 1, characterized in that, the loading mechanism (4) includes a roller conveyor (401) and a tape rack (402), and the tape rack (402) It is located on the roller conveyor (401), and the adhesive tape rack (402) is located below the vertical moving frame (303).