CN110713019A - Natural rubber block intelligent material taking and stacking system - Google Patents
Natural rubber block intelligent material taking and stacking system Download PDFInfo
- Publication number
- CN110713019A CN110713019A CN201911088398.8A CN201911088398A CN110713019A CN 110713019 A CN110713019 A CN 110713019A CN 201911088398 A CN201911088398 A CN 201911088398A CN 110713019 A CN110713019 A CN 110713019A
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- rectangular
- rotating
- natural rubber
- base plate
- plate
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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
Abstract
The intelligent material taking and stacking system for the natural rubber blocks comprises a conveying trolley (7) capable of moving back and forth along a double-track (4), a mould (6) which is arranged on the conveying trolley and is provided with a plurality of cavities arranged in order, the natural rubber blocks baked and formed in the mould, a stacking robot (1) which is arranged on one side of the track and the conveying trolley and is provided with a suspension grab arm, and a clamp (8) which is arranged on the suspension grab arm of the stacking robot and is used for clamping the natural rubber blocks in the mould; a rack (9) parallel to the rails is arranged between the two rails of the double-rail rails, a motor (11) and a speed reducer (10) with an output shaft facing downwards are installed in the middle of the bottom of the rectangular frame type frame, a gear (12) is installed on the output shaft of the speed reducer, and the gear is meshed with the rack. The invention can automatically take out the baked rubber blocks from the die and automatically stack the rubber blocks orderly.
Description
Technical Field
The invention relates to the technical field of automatic material taking and stacking, in particular to a system for automatically performing rubber demolding and rubber block stacking in the wet rubber baking production of natural rubber.
Background
In the traditional production of natural rubber wet-process baking glue, the baked rubber blocks are taken out of the mould and stacked manually. The manual operation mode has the advantages that the labor intensity of workers is high, the production efficiency is low, the stacking is not standard, the stacking site is smelly, great harm is caused to the bodies of the workers, and in addition, when the glue is manually grabbed, the rubber blocks are easily damaged due to the fact that the grabbing position is not fixed, and the quality of the rubber blocks is reduced.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an intelligent natural rubber block taking and stacking system which can automatically take out baked rubber blocks from a die and automatically stack the baked rubber blocks orderly.
The technical scheme adopted by the invention is as follows:
the intelligent material taking and stacking system for the natural rubber blocks comprises a conveying trolley capable of reciprocating along a double-track rail, a mould with a plurality of cavities arranged in order and mounted on the conveying trolley, the natural rubber blocks baked and formed in the mould, a stacking robot with a suspension grabbing arm and mounted on one side of the rail and the conveying trolley, and a clamp mounted on the suspension grabbing arm of the stacking robot and used for clamping the natural rubber blocks in the mould; and a rack parallel to the two rails is arranged between the two rails of the double-rail, a motor and a speed reducer with a downward output shaft are arranged in the middle of the bottom of the rectangular frame type frame, a gear is arranged on the output shaft of the speed reducer, and the gear is meshed with the rack.
The clamp comprises a connecting pipe which can be arranged on a robot suspension grabbing arm, a rectangular base plate arranged at the bottom end of the connecting pipe, two rectangular rotating plates symmetrically arranged below the base plate, and a rectangular push plate arranged below the rectangular rotating plates;
two pairs of lug seats and rotating shafts arranged on the lug seats are symmetrically arranged at the central line position of the bottom surface of the base plate, round holes, strip holes and base plate supports arranged at two sides of the strip holes are symmetrically arranged at the middle positions of two sides of the base plate, a rotatable air cylinder seat and a rotating plate air cylinder vertically arranged on the air cylinder seat are arranged on the base plate supports, and an air cylinder rod of the rotating plate air cylinder penetrates through the strip holes downwards; push plate cylinders are symmetrically arranged on the two sides of the connecting pipe on the base plate support, and cylinder rods of the push plate cylinders penetrate through the round hole in the middle of the base plate and the rotating plate downwards and then are fixedly connected with the push plate;
the inner ends of the two rectangular rotating plates are respectively sleeved on the rotating shaft through at least two lantern rings, a rotating plate support is arranged on the top surface of the rotating plate, a rotatable joint is sleeved on a support shaft of the rotating plate support, and a cylinder rod head of the rotating plate cylinder is fixedly connected with the joint; a group of downward contact pins are arranged on the rectangular rotating plate;
a group of through holes are formed in the rectangular push plate, and the contact pins downwards penetrate through the through holes of the rectangular push plate; guide rods are respectively installed at four corners of the top surface of the rectangular push plate, the guide rods upwards penetrate through the rectangular rotating plate and the rectangular base plate, guide rod holes for the guide rods to penetrate through are machined at the four corners of the rectangular base plate, and linear bearings are installed in the guide rod holes; the push plate cylinder and the rotary plate cylinder are controlled by a control system.
The top end of the connecting pipe of the clamp is provided with an electronic weighing device.
The conveying trolley comprises a rectangular frame type frame and rollers symmetrically arranged on two sides of the bottom of the frame, wherein the rollers are placed on rails on two sides and roll along the rails.
The robot palletizer is arranged on a support. The mould is provided with two rows of cavities which are arranged in parallel and have 24 grids.
According to the invention, through the matching of the palletizing robot and the reciprocating conveying trolley, in the process of conveying the mold in a way that the conveying trolley continuously reciprocates, the baked and molded rubber blocks are continuously grabbed from the mold through the clamp and are orderly stacked on the tray placed beside the palletizing robot, so that the production efficiency can be improved by more than 4 times, 3 workers can be reduced for each line, the labor intensity of the workers is greatly reduced, and the production efficiency is improved. In addition, the clamp can vertically insert a plurality of contact pins into a soft rubber block which is solidified and formed in the mould, and then the contact pins are driven to deflect by rotating the rectangular rotating plate, so that the rubber block can be stably clamped once and then taken out, mechanical automatic rubber grabbing is realized, the rubber block can be effectively prevented from being grabbed and damaged, and the quality of the rubber block is ensured.
Drawings
FIG. 1 is a schematic view of a palletizing system according to the present invention;
FIG. 2 is a schematic view of the transport cart mounted on a track;
FIG. 3 is a schematic view of a gear engaging a rack;
FIG. 4 is a schematic view of the structure of the clamp;
FIG. 5 is a schematic view showing a state in which a rectangular rotating plate of the jig is rotated;
FIG. 6 is a schematic view of a rectangular rotating plate of the clamp sleeved on a rotating shaft;
fig. 7 is a schematic diagram of the working state that the clamp is arranged on the robot suspension grabbing arm to grab the rubber block.
Detailed Description
As shown in fig. 1, 2 and 3, the intelligent material taking and stacking system for natural rubber blocks comprises a conveying trolley 7 capable of reciprocating along two parallel rails 4, a mould 6 which is arranged on the conveying trolley and is provided with a plurality of cavities arranged in order, natural rubber blocks 13 baked in the mould, a stacking robot 1 which is arranged on one side of the rails and the conveying trolley and is provided with a suspension grab arm, and a clamp 8 which is arranged at the bottom end of the suspension grab arm of the stacking robot and is used for clamping the natural rubber blocks in the mould. A rack 9 parallel to the rails is arranged between the two rails of the double-rail 4, a motor 11 and a speed reducer 10 with an output shaft facing downwards are arranged in the middle of the bottom of the rectangular frame type frame, a gear 12 is arranged on the output shaft of the speed reducer, and the gear 12 is meshed with the rack 9. The conveying trolley 4 comprises a rectangular frame type frame and rollers 5 symmetrically arranged on two sides of the bottom of the frame, and the rollers are placed on the rails on the two sides and roll along the rails. The robot palletizer 1 can be arranged on a support 2, and two sides of the support 2 are respectively provided with a tray 3. The track 4 is arranged on the ground, the rack 9 is arranged on an installation plate of the ground, and the speed reducer 10 is connected with the motor 11 and then arranged at the bottom of the trolley 7. The motor 11 provides a power source for the conveying trolley, drives the conveying trolley to reciprocate along the rail, continuously conveys the mold filled with the baked rubber blocks to the position below the overhanging grabbing arm of the palletizing robot, takes out the rubber blocks in the mold through the clamp, neatly stacks the rubber blocks on the trays 3, stacks one tray and stacks another tray. The mould 6 according to this embodiment is provided with two rows of 24 cavities arranged in parallel.
The clamp is shown in fig. 4, 5, 6 and 7 and comprises a connecting pipe 8-10 which can be arranged on a suspension grabbing arm of the robot 1, a rectangular base plate 8-7 which is arranged at the bottom end of the connecting pipe, two rectangular rotating plates 8-3 which are symmetrically arranged below the base plate, and a rectangular push plate 8-5 which is arranged below the rectangular rotating plates.
Two pairs of lug seats 8-12 and rotating shafts 8-8 arranged on the lug seats are symmetrically arranged at the central line position of the bottom surface of the base plate, round holes, long holes 8-6 and base plate supports 8-13 arranged at the two sides of the long holes are symmetrically arranged at the middle positions of the two sides of the base plate, a rotatable air cylinder seat 8-15 and a rotating plate air cylinder 8-2 vertically arranged on the air cylinder seat are arranged on the base plate supports, and an air cylinder rod 8-16 of the rotating plate air cylinder downwards penetrates through the long holes; push plate cylinders 8-1 are symmetrically arranged on the two sides of the connecting pipe on the base plate support, and cylinder rods of the push plate cylinders penetrate through the round holes in the middle of the base plate and the rotating plates 8-3 downwards and then are fixedly connected with the push plates 8-5. The long strip hole 8-6 for the cylinder rod of the rotating plate cylinder to pass through is a waist-shaped hole or a rectangular hole, and the long axis of the long strip hole is arranged along the length direction of the substrate, so that the cylinder rod of the rotating plate cylinder can push the rectangular rotating plate to rotate and reset stably, and the cylinder rod is limited; the inner ends of the two rectangular rotating plates 8-3 are respectively sleeved on the rotating shaft 8-8 through at least two lantern rings 8-21, and the rectangular rotating plates can rotate along the rotating shaft 8-8. A rotating plate support 8-19 is arranged on the top surface of the rotating plate, a rotatable joint 8-17 is sleeved on a fulcrum shaft 8-18 of the rotating plate support, and a rod head 8-16 of a cylinder rod of the rotating plate cylinder is fixedly connected with the joint 8-17; a set of downward pins 8-4 are mounted on the rectangular rotating plate. A group of through holes 8-20 are formed in the rectangular push plate 8-5, and the contact pins 8-4 downwards penetrate through the through holes 8-20 of the rectangular push plate 8-5. Four corners of the top surface of the rectangular push plate are respectively provided with guide rods 8-14, the guide rods upwards penetrate through the rectangular rotating plate 8-3 and the rectangular base plate 8-7, guide rod holes for the guide rods to penetrate through are processed at the four corners of the rectangular base plate 8-7, linear bearings 8-11 are installed in the guide rod holes, and the four guide rods 8-14 play a role in guiding and can stably and synchronously move in the linear bearings so as to control the stable lifting of the rectangular push plate 8-5. The push plate cylinder 8-1 and the rotating plate cylinder 8-2 are both connected with a robot control system and are controlled by the control system to act. Two ends of the connecting pipe 8-10 are respectively welded with a flange 8-22, the upper end flange is connected with an electronic weighing device 8-9, and the electronic weighing device is connected with the robot. The lower end flange is connected with a rectangular base plate 8-7. The electronic weigher can weigh the gripped rubber block, transmit the weighed rubber block to the control system and display the weighed rubber block on the display.
A push plate cylinder 8-1, a rotating plate cylinder 8-2 and a motor 11 of a travelling mechanism of the clamp are controlled by a set of designed independent system, and are matched with a tracking system and an identification system of a palletizing robot to realize the grabbing and palletizing of a rubber block 13 on a trolley 7 in motion.
As shown in figures 1 and 7, the top ends of the connecting pipes 8-10 are arranged on a suspension grabbing arm 1-1 of the palletizing robot 1, and the work of the clamps is controlled by a robot control system. Through the cooperation of the palletizing robot and the reciprocating conveying trolley, the baked and molded rubber blocks are continuously grabbed from the mould through the clamp in the process of conveying the mould through the continuous reciprocating movement of the conveying trolley, and are orderly stacked on the tray 3 placed beside the palletizing robot. The specific working process is as follows:
a. starting a motor 11, and moving the mold 6 with the baked rubber blocks 13 to a rubber taking and stacking station by the conveying trolley 7;
b. the robot moves the clamp to the position right above the rubber mold 6, at the moment, the push plate cylinder 8-1 and the rotating plate cylinder 8-2 are in retraction positions, the two rectangular rotating plates 8-3 are in a horizontal state, the contact pin 8-4 is in a vertical state, and the rectangular push plate 8-5 is retracted to be in a high position;
c. the robot controls the action of the suspension grab arm, the clamp moves downwards, the contact pin 8-4 is inserted into the rubber block 13 in the mould, and the mould is kept stationary;
d. the rotating plate cylinder 8-2 extends out to push the two rectangular rotating plates 8-3 to rotate oppositely by taking the rotating shaft 8-8 as a center, so that the contact pins 8-4 on the left rectangular rotating plate and the right rectangular rotating plate are driven to clamp inwards to hold the rubber block tightly, then the robot controls the suspension grabbing arm to lift upwards, the clamp holding the rubber block is lifted, and the rubber block can be taken out and transferred to the tray 3;
e. the rectangular rotating plate 8-3 rotates around the rotating shaft 8-8 as the center, and when the inserting pin 8-4 is in a vertical state, the rubber block is loosened;
f. pushing out by the push plate cylinder 8-1 to drive the rectangular push plate 8-5 to move downwards, pushing out the rubber block inserted on the contact pin downwards to separate the rubber block from the contact pin 8-4, and dropping the rubber block onto the tray 3;
g. the push plate cylinder 8-1 retracts to drive the rectangular push plate 8-5 to reset upwards, and then the action of grabbing the rubber block is completed;
h. repeating the steps b to g, taking out the rubber blocks in the die block by block and stacking the rubber blocks on the tray 3 until all the rubber blocks in the die are taken out;
i. and (4) the conveying trolley 7 sends the empty mold 6 with the rubber block 13 taken back, then moves the next mold 6 with the baked rubber block to the rubber taking and stacking station, and repeats the steps b-h to automatically take the baked rubber block out of the mold and automatically stack the rubber block on a tray in order.
The robot palletizer 7 directly adopts the robot palletizer in the prior art. The push plate cylinder 8-1, the rotating plate cylinder 8-2 and the motor 14 of the travelling mechanism of the clamp are controlled by a set of designed independent system, and the control system of the palletizing robot is combined to control rubber taking and palletizing.
Claims (5)
1. The intelligent material taking and stacking system for the natural rubber blocks is characterized by comprising a conveying trolley (7) capable of moving back and forth along a double-track (4), a mould (6) which is arranged on the conveying trolley and is provided with a plurality of cavities arranged in order, the natural rubber blocks baked and formed in the mould, a stacking robot (1) which is arranged on one side of the track and the conveying trolley and is provided with a suspension grabbing arm, and a clamp (8) which is arranged on the suspension grabbing arm of the stacking robot (1) and is used for clamping the natural rubber blocks in the mould; a rack (9) parallel to the rails is arranged between the two rails of the double-rail (4), a motor (11) and a speed reducer (10) with an output shaft facing downwards are installed in the middle of the bottom of the rectangular frame type frame, a gear (12) is installed on the output shaft of the speed reducer, and the gear (12) is meshed with the rack (9);
the clamp (8) comprises a connecting pipe (8-10) which can be arranged on a suspension grabbing arm of the robot (1), a rectangular base plate (8-7) arranged at the bottom end of the connecting pipe, two rectangular rotating plates (8-3) symmetrically arranged below the base plate, and a rectangular push plate (8-5) arranged below the rectangular rotating plates; two pairs of lug seats (8-12) and rotating shafts (8-8) arranged on the lug seats are symmetrically arranged at the central line position of the bottom surface of the base plate, round holes, long holes (8-6) and base plate supports (8-13) arranged at two sides of the long holes are symmetrically arranged at the middle positions of two sides of the base plate, rotatable cylinder seats (8-15) and rotating plate cylinders (8-2) vertically arranged on the cylinder seats are arranged on the base plate supports, and cylinder rods (8-16) of the rotating plate cylinders downwards penetrate through the long holes; push plate cylinders (8-1) are symmetrically arranged on the two sides of the connecting pipe on the base plate support, and cylinder rods of the push plate cylinders penetrate through the round hole in the middle of the base plate and the rotating plate (8-3) downwards and then are fixedly connected with the push plate (8-5); the inner ends of the two rectangular rotating plates (8-3) are respectively sleeved on the rotating shaft (8-8) through at least two lantern rings (8-21), rotating plate supports (8-19) are installed on the top surfaces of the rotating plates, rotatable joint joints (8-17) are sleeved on support shafts of the rotating plate supports, and the rod heads of air cylinder rods (8-16) of the rotating plate air cylinders are fixedly connected with the joint joints (8-17); a group of downward contact pins (8-4) are arranged on the rectangular rotating plate; a group of through holes (8-20) are formed in the rectangular push plate (8-5), and the contact pins (8-4) downwards penetrate through the through holes (8-20) of the rectangular push plate (8-5); guide rods (8-14) are respectively installed at four corners of the top surface of the rectangular push plate, the guide rods upwards penetrate through the rectangular rotating plate (8-3) and the rectangular base plate (8-7), guide rod holes for the guide rods to penetrate through are machined at the four corners of the rectangular base plate (8-7), and linear bearings (8-11) are installed in the guide rod holes; the push plate cylinder (8-1) and the rotating plate cylinder (8-2) are controlled by a control system.
2. The natural rubber block intelligent material taking and stacking system as claimed in claim 1, wherein an electronic weighing device (8-9) is mounted at the top end of a connecting pipe (8-10) of the clamp.
3. The natural rubber block intelligent material taking and stacking system as claimed in claim 1, wherein the conveying trolley (4) comprises a rectangular frame type frame, and rollers (5) symmetrically arranged on two sides of the bottom of the frame, and the rollers are placed on two side rails and roll along the rails.
4. Intelligent material taking and stacking system for natural rubber blocks as claimed in claim 1, characterized in that the stacking robot (1) is mounted on a support (2).
5. Intelligent material taking and stacking system for natural rubber blocks as claimed in claim 1, wherein the mould (6) is provided with two rows of cavities arranged in parallel and having 24 grids.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911088398.8A CN110713019A (en) | 2019-11-08 | 2019-11-08 | Natural rubber block intelligent material taking and stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911088398.8A CN110713019A (en) | 2019-11-08 | 2019-11-08 | Natural rubber block intelligent material taking and stacking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110713019A true CN110713019A (en) | 2020-01-21 |
Family
ID=69215770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911088398.8A Pending CN110713019A (en) | 2019-11-08 | 2019-11-08 | Natural rubber block intelligent material taking and stacking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110713019A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664849A (en) * | 2021-02-23 | 2021-11-19 | 米其林集团总公司 | Robot equipped with gripper for performing picking process |
| CN113731858A (en) * | 2021-02-23 | 2021-12-03 | 米其林集团总公司 | Automated unit for performing control of containers during the picking of rubber blocks |
-
2019
- 2019-11-08 CN CN201911088398.8A patent/CN110713019A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664849A (en) * | 2021-02-23 | 2021-11-19 | 米其林集团总公司 | Robot equipped with gripper for performing picking process |
| CN113731858A (en) * | 2021-02-23 | 2021-12-03 | 米其林集团总公司 | Automated unit for performing control of containers during the picking of rubber blocks |
| US11820609B2 (en) | 2021-02-23 | 2023-11-21 | Compagnie Generale Des Etablissements Michelin | Robot equipped with a gripper for performing a picking process |
| CN113731858B (en) * | 2021-02-23 | 2023-11-21 | 米其林集团总公司 | Automation unit for performing container control during rubber block picking |
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