CN111776602A - Hollow vacuum conveyor belt for intelligent robot end effector and use method - Google Patents
Hollow vacuum conveyor belt for intelligent robot end effector and use method Download PDFInfo
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- CN111776602A CN111776602A CN202010507501.4A CN202010507501A CN111776602A CN 111776602 A CN111776602 A CN 111776602A CN 202010507501 A CN202010507501 A CN 202010507501A CN 111776602 A CN111776602 A CN 111776602A
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
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Abstract
The invention discloses a hollow vacuum conveyor belt for an intelligent robot end effector and a using method thereof, wherein the hollow vacuum conveyor belt comprises a conveyor belt, a vacuum air passage is formed in the conveyor belt and is communicated with one ends of a plurality of product air passages, and a vacuum joint of the vacuum air passage is connected with a vacuum generating device through a pipeline; in addition, the invention also discloses a corresponding using method; the invention can combine the robot end effector to replace the hand function to realize the automatic and intelligent production process of the medicinal rubber cover, can improve the vacuum adsorption force and the adsorption range of the conveyor belt and finish the adsorption and grabbing of products with different shapes, thereby realizing the stripping process of the preformed film and the isolating film and the demoulding process of the vulcanized film and the vulcanizing mould.
Description
Technical Field
The invention relates to the technical field of transformation of an intelligent robot end effector, in particular to a hollow vacuum conveyor belt for the intelligent robot end effector and a using method thereof.
Background
The end effector is a component at the tail end of the intelligent robot manipulator, is a tool clamp for a transmission process in a production line, is generally used for feeding and discharging robots, and drives the end effector to work according to a track preset in advance through track teaching.
The medical rubber cap is a sealing part and a leading-out part for packaging medicines, and the total amount of various rubber plugs (medical rubber plugs, oral liquid rubber plugs, pre-encapsulation rubber plugs, vacuum hemostix rubber plugs, rubber pistons for syringes and the like) used in each year is more than 1000 hundred million by taking China as an example. To meet such a huge demand and to improve the production efficiency, only the "group mold vulcanization" method is the best choice. The "vulcanization" is the process of placing the rubber compound semi-finished product (i.e. preformed rubber sheet) in a vulcanization mould on a hot plate of a vacuum vulcanizer, then carrying out mould closing and vacuum pumping, and carrying out "cross-linking" under certain temperature and pressure conditions. The vulcanization process takes place in two reactions: firstly, a chemical reaction occurs, namely the rubber compound generates a three-dimensional net structure through the cross-linking reaction of the rubber compound with a linear structure; secondly, the rubber product is endowed with the shape, and the rubber product has use value only through vulcanization. The 'group die vulcanization' method is that hundreds to thousands of rubber plug cavities are formed on a set of vulcanization die, and in order to facilitate the 'orderly' taking out of hundreds to thousands of rubber plugs from the vulcanization die (i.e. the demoulding process), a plurality of covers are connected into a whole (i.e. vulcanized rubber sheets) by adopting 'technical rubber edges'. The vulcanization of the medicinal rubber plug is a process which has the greatest influence on the product quality, the greatest labor intensity and the most serious employee loss in the whole rubber cover production process. At present, the intelligent manufacturing is rapidly advanced, but the vulcanization production of the whole medicinal butyl rubber plug industry still adopts the manual operation of the vulcanization workers in the last 50 th century, and the reason for the manual operation is that no tooling is provided for replacing the manual function to realize the automatic and intelligent process of rubber cap manufacturing on the premise of economic feasibility in the whole world due to the production process characteristics of butyl rubber and butyl rubber plugs; two major difficulties exist in the production process of the butyl rubber plug at present, which are as follows:
1. and (3) separating the preformed film from the isolating film: the butyl rubber is cold-flowing rubber, is a main material of the adhesive, namely the butyl rubber can flow in the natural storage process, and can flow as water if no package is used, so that the butyl rubber is like the adhesive and shows a sticky character. The compounding ingredients are "mixed" into the rubber by a compounding process to form a plastic bloom blend, i.e., "compound", which is higher in gum content and lower in hardness and more viscous, and the rubber plug product is the product with the minimum requirement of gum content. The rubber compound is pressed into a rubber sheet for vulcanization with certain length, width and thickness, which is called as a pre-formed rubber sheet, the thickness of the pre-formed rubber sheet is usually 2-5mm due to the small specification of the rubber plug, the vulcanization adopts a 'group mold vulcanization' technology, the area size of the rubber sheet used by the domestic main mold is 680x640mm at present, and then a PE film or a PP film is adopted to be stacked and stored after being separated layer by layer. The film is more viscous along with the increase of the storage time, and simultaneously, the pressure generated by the cold flowability and the stacking of the sizing material is added, so that the preformed film and the isolating membrane also generate an adsorption effect, and the preformed film is difficult to be perfectly separated from the isolating membrane by the traditional mechanical mode at present due to the characteristics of large, thin and viscous plastic materials deformed by stress.
2. And (3) a vulcanized rubber sheet and a vulcanization mold are separated: during ' group ' mould vulcanization ', because the vulcanizer evacuation effect for keep vacuum state between vulcanized rubber piece and the mould die cavity, also because the plug is many and the shape is more complicated so the vacuum adsorption area is big, and the plug can produce molecular gravitation with the mould surface, so demold this big vulcanized rubber piece from the vulcanization mould and also be difficult, let the direct vertical direction of traditional manipulator demold and be close to in can not realizing (vulcanizer die sinking force all chooses 500t usually). The manual demoulding in the vulcanization chemical industry is realized by tearing off the process rubber edge from the vulcanized rubber sheet and the edge of the mould cavity by utilizing the elastic characteristic of rubber, generating a gap between the vulcanized rubber sheet and the mould cavity after the vulcanized rubber sheet generates elastic deformation, and breaking vacuum after air enters.
Currently, to meet the needs of positioning and directional conveying of articles, a vacuum conveyor belt, which is referred to as a conventional vacuum conveyor belt, is developed. The traditional vacuum conveyor belt is characterized in that a through hole with a smaller diameter or a through groove with a shorter length is drilled on a belt body of the conveyor belt, a fixed vacuum box is arranged between two belt wheels and between an upper belt body and a lower belt body, namely below a working surface of the traditional conveyor belt, a vacuum air port corresponding to the through hole on the conveyor belt is arranged above the vacuum box, and the conveyor belt covers the vacuum box and plays a role in sealing the vacuum box; when the conveying belt rotates, the belt body slides from the vacuum air port of the vacuum box, when the small holes or the small grooves on the vacuum conveying belt rotate to the upper part of the vacuum box and are overlapped with the vacuum air port, the surface of the conveying belt generates negative pressure adsorption through the through holes or the through grooves, and the adsorption or the positioning of conveyed articles on the surface of the belt is realized by utilizing the adsorption force.
The working surface of the traditional vacuum conveyor belt is not only an article bearing surface, but also a vacuum adsorption working surface, and is also a tensioning surface for conveying the belt, and the conveying belt can achieve the purpose of conveying only after sliding from the vacuum box, so sliding friction is generated between the belt body and the air port surface of the vacuum box, so that the energy loss is large, the belt body is greatly abraded, and the provided vacuum degree is very limited. The conventional vacuum conveyor belt is generally used for simply positioning and conveying thin, small-sized objects.
However, the vacuum conveyor belt is located at the conveyor belt part of the non-tensioning surface, that is, the conveyor belt part located under the belt surface in the operation process is in a suspended state (fig. 22) due to self weight, and the suspended degree is continuously increased due to the tension effect, so a gap is generated between the vacuum conveyor belt and the vacuum box above the vacuum conveyor belt, therefore, the conveyor belt operated to the non-tensioning surface cannot play a sealing role, the vacuum box cannot form vacuum, so the maximum transmission range of the traditional vacuum conveyor belt is limited to the upward belt surface, and the linear transmission part can generate vacuum adsorption.
In summary, such conventional vacuum transfer suffers from three serious drawbacks: firstly, the conveying direction is limited above the conveying belt; secondly, the range of the conveyor belt capable of providing the vacuum adsorption function is very limited, and the conveyor belt is limited to a section (shown in figure 22) in which the through hole rotates to the position above the vacuum box and is matched with the vacuum opening of the vacuum box; thirdly, the vacuum degree affects the vacuum degree, the vacuum adsorption force is limited and the energy consumption is serious.
Disclosure of Invention
The invention aims to overcome the defects and provides a hollow vacuum conveyor belt for an intelligent robot end effector and a using method thereof, which can be combined with the robot end effector to replace the hand function to realize the automatic and intelligent production process of the medicinal rubber plug, improve the vacuum adsorption force and the adsorption range of the conveyor belt, and are beneficial to the stripping process of a preformed film and an isolating film and the stripping process of a vulcanized film and a vulcanization mold.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a cavity formula vacuum conveyer belt for intelligent robot end effector, includes the conveyer belt, the inside vacuum air flue of having seted up of conveyer belt, vacuum air flue and a plurality of product air flue one end intercommunication, the vacuum joint of vacuum air flue passes through the pipeline and is connected with vacuum generating device.
Preferably, the vacuum air passages are distributed in a grid type or S type or parallel pipe network.
Preferably, the other end of the product air passage is communicated with the product suction nozzle.
Preferably, the product nozzle is a concave nozzle structure or a convex nozzle structure.
Preferably, the conveyer belt is around locating drive roll and driven voller surface, the rotation axis at drive roll and driven voller both ends passes through the bearing and installs in the frame, and the rotation axis of drive roll is connected with driving motor's output, frame and connecting rod fixed connection, be equipped with the coupling flange on the connecting rod, the coupling flange is connected with the manipulator.
More preferably, a threaded shaft is fixedly arranged between the driving roller and the driven roller, a threaded sleeve in threaded fit with the threaded shaft is sleeved on the threaded shaft, a threaded groove is formed in the outer surface of the threaded sleeve, a pipeline is wound in the threaded groove, the end of the pipeline is connected with an exhaust pipe of the vacuum generation device through a pneumatic rotary joint, and the outer surface of the threaded sleeve is in contact with the inner side of the conveyor belt.
More preferably, the rack is further provided with a pipeline limiting frame in a T-shaped structure, and the pipeline is wound on the pipeline limiting frame.
More preferably, the outer end of the rotating shaft of the driving roller is fixedly provided with a grooved wheel, the pipeline is limited in a groove of the grooved wheel, one side of the grooved wheel is provided with a limiting pressure wheel, the limiting pressure wheel rotates along with the rotation of the grooved wheel, and the pipeline is tightly pressed in the groove of the grooved wheel.
Preferably, the pipeline is respectively connected with a compressed air pipeline and a pipeline where a vacuum generating device is located through a three-way joint, and the vacuum generating device is an evacuation pump or a vacuum generator.
In addition, the invention also discloses a using method of the hollow type vacuum conveyor belt, which comprises the following steps:
step 1): the pre-forming film storage platform is used for stacking pre-forming films, an isolation film is padded between two adjacent pre-forming films, the manipulator drives the whole end effector to move to the position above the pre-forming film storage platform, the end effector is controlled to move downwards to enable the lower side of the conveyor belt to contact the isolation film on the upper surface of the pre-forming film, the electromagnetic valve of the pipeline where the vacuum generating device is located is opened, negative pressure is generated at the pipeline, the vacuum air passage, the product air passage and the product suction nozzle, and the isolation film is sucked at the lower side of the conveyor belt;
step 2): the driving motor of the conveyor belt works, the manipulator drives the whole end effector to retreat, so that the conveyor belt rotates and moves backwards at the same time, the isolating film is gradually stripped from the surface of the preformed film, and finally the isolating film is adsorbed on the surface of the conveyor belt and rotates to the upper side of the conveyor belt;
step 3): the manipulator drives the end effector to move above the isolation film storage platform, the driving motor of the conveyor belt rotates reversely to enable the conveyor belt to rotate reversely, so that the isolation film rotates to the lower side of the conveyor belt, the electromagnetic valve of the pipeline where the vacuum generating device is located is closed, compressed air is introduced into the pipeline, and the isolation film falls off on the isolation film storage platform under the action of self weight and pressure;
step 4): the mechanical arm drives the end picking device to move to the position above the preformed film storage platform again, controls the end picking device to move downwards to enable the lower side of the conveying belt to contact with the preformed film, and opens an electromagnetic valve of a pipeline where the vacuum generating device is located to enable the lower side of the conveying belt to suck the preformed film;
step 5): the driving motor of the conveyor belt works, the manipulator drives the whole end picking device to retreat, so that the conveyor belt rotates and moves backwards at the same time, the preformed film is gradually stripped from the surface of the isolating film, and finally the preformed film is adsorbed on the surface of the conveyor belt and rotates to the upper side of the conveyor belt;
step 6): the mechanical arm drives the end pick-up to move to the area where the vulcanizing machine is located, controls the end pick-up to enter the upper part of a vulcanizing mold in the vulcanizing machine and move downwards, enables the lower side of the conveying belt to be in contact with a vulcanized rubber sheet on the vulcanizing mold, ensures that a product suction nozzle of the conveying belt is aligned with a plug on the vulcanized rubber sheet, and opens an electromagnetic valve of a pipeline where the vacuum generating device is located, so that the lower side of the conveying belt sucks the vulcanized rubber sheet;
step 7): the driving motor of the conveyor belt works, the manipulator drives the whole end effector to retreat and move out of the vulcanizing machine, the conveyor belt rotates and moves backwards at the same time, vulcanized rubber sheets are gradually stripped from the surface of a vulcanizing mold, finally, the vulcanized rubber sheets are adsorbed on the surface of the conveyor belt and rotate to the upper side of the conveyor belt, preformed rubber sheets rotate to the lower side of the conveyor belt again, the manipulator controls the end effector to enter the upper part of the vulcanizing mold in the vulcanizing machine again, at the moment, the electromagnetic valve of a pipeline where the vacuum generating device is located is closed, compressed air is introduced into the pipeline, the preformed rubber sheets fall off on the vulcanizing mold under the action of self weight and pressure, then the manipulator drives the whole end effector to move out of the vulcanizing machine, and the vulcanizing machine is started to carry out a;
step 8): the manipulator drive end effector moves to vulcanized rubber sheet and deposits the platform top, and the driving motor antiport of conveyer belt makes the conveyer belt also antiport for vulcanized rubber sheet in step 7) rotates to the conveyer belt downside, closes the solenoid valve of vacuum production device place pipeline, and lets in compressed air to the pipeline, makes vulcanized rubber sheet drop on vulcanized rubber sheet deposits the platform under dead weight and pressure effect.
The invention has the beneficial effects that: the hollow vacuum conveyor belt can be well combined with a robot end effector to realize the stripping between the isolating membrane and the preformed film and the processes of film loading and film demoulding of the preformed film, namely, the hollow vacuum conveyor belt can be combined with the robot end effector to replace the hand function to realize the automatic and intelligent production process of the medicinal rubber cover; the vacuum air passage is arranged in the conveyor belt, so that the vacuum adsorption force of the conveyor belt can be greatly improved, the separation process of the preformed film and the isolating film and the separation process of the vulcanized film and the vulcanizing mold are facilitated, the negative pressure adsorption force can be generated in one circle of the whole conveyor belt, the adsorption range of the conveyor belt is improved, the product suction nozzles in different shapes can be arranged in one circle of the conveyor belt, the application range of the end picking device is also improved, the adsorption and grabbing of products in different shapes are completed, and the degree of freedom of the robot is increased equivalently.
Drawings
FIG. 1 is a schematic diagram of a hollow vacuum conveyor belt for an intelligent robotic end effector;
FIG. 2 is an enlarged schematic view of region A in FIG. 1;
FIG. 3 is an enlarged schematic view of region B in FIG. 1;
FIG. 4 is an enlarged schematic view of region C of FIG. 1;
FIG. 5 is an enlarged view of region D of FIG. 1;
fig. 6 is a schematic view of an end effector configuration;
FIG. 7 is a schematic diagram of a grid-type distribution structure of the vacuum airway;
FIG. 8 is a schematic diagram of an S-shaped distribution structure of the vacuum airway;
FIG. 9 is a schematic diagram of a distribution structure of a parallel pipe network of the vacuum air passage;
fig. 10 is a front elevation view of the duct 5 mounted on the end effector and a top plan view with the conveyor belt removed in example 1;
FIG. 11 is a front elevation view of the duct 5 mounted on the end effector and a top plan view with the conveyor belt removed in example 2;
FIG. 12 is a front elevation view of the duct 5 mounted on the end effector and a top plan view with the conveyor belt removed in example 3;
FIG. 13 is an enlarged view of region E of FIG. 12;
FIG. 14 is a schematic view showing the connection structure of the three-way joint with the pipeline, the compressed air line and the vacuum generator;
FIG. 15 is a plan view of a release film, premold film and cured film during use of the end effector of the present invention;
FIGS. 16 to 21 are schematic views showing steps corresponding to the method of using the hollow vacuum conveyor belt according to the present invention;
FIG. 22 is a schematic structural view of a conventional vacuum conveyor belt;
in the figure, a conveying belt 1, a vacuum air passage 2, a vacuum joint 2.1, a product air passage 3, a product suction nozzle 4, a pipeline 5, a driving roller 6, a driven roller 7, a frame 8, a connecting rod 9, a connecting flange 10, a threaded shaft 11, a threaded sleeve 12, a threaded groove 13, a pneumatic rotary joint 14, a pipeline limiting frame 15, a grooved wheel 16, a limiting pressure wheel 17, a preforming film storage platform 18, a preforming film 19, an isolating film 20, an isolating film storage platform 21, a vulcanizing machine 22, a vulcanizing film 23, a vulcanizing film storage platform 24, a vulcanizing mold 25, a tee joint 26 and a compressed air pipeline 27.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
As shown in fig. 1 and 2, a cavity formula vacuum conveyer belt for intelligent robot end effector, includes conveyer belt 1, vacuum air flue 2 has been seted up to conveyer belt 1 inside, vacuum air flue 2 communicates with 3 one end of a plurality of product air flues, and vacuum joint 2.1 of vacuum air flue 2 passes through pipeline 5 and is connected with the vacuum generation device. In this embodiment, the position of the vacuum joint 2.1 may be located at the bottom or the side or the upper part of the conveyor belt 1, and is specifically determined by the distribution shape of the vacuum air duct 2 or the arrangement form of the pipes 5;
preferably, the vacuum air passages 2 are distributed in a grid type or an S type or a parallel pipe network. As shown in fig. 7, the grids of the vacuum air passage 2 are distributed in two forms, the grid positioned at the upper side is a triangular grid, and the grid positioned at the lower side is a rectangular grid; as shown in fig. 8, the vacuum air ducts 2 are distributed in an S shape; as shown in fig. 9, the vacuum air passages 2 are distributed in a parallel pipe network; regardless of the mesh form, when the vacuum generating device is operated, the negative pressure can be rapidly and uniformly generated in the vacuum air passage 2, so that the negative pressure adsorption force can be rapidly and uniformly generated on the whole conveyor belt 1.
Preferably, the other end of the product air passage 3 is communicated with the product suction nozzle 4. In the embodiment, the vacuum suction nozzle can be actually divided into two forms, namely a non-product suction nozzle and a product suction nozzle, as shown in fig. 2, the vacuum suction nozzle is not provided, when the vacuum generating device works, the vacuum air passage 2 and the product air passage 3 generate negative pressure, and the negative pressure adsorption force is directly provided through the product air passage 3, so that the product is sucked by the conveyor belt 1, which is similar to the adsorption mode of a plane type suction nozzle; as shown in fig. 3, 4 and 5, the end of the product air passage 3 is also communicated with the product suction nozzle 4, so that the product suction nozzle 4 provides negative pressure suction force to make the conveyor belt 1 suck the product, and the product suction nozzle 4 is shaped into different shapes to suck products of different shapes, so that as shown in fig. 1, the same conveyor belt 1 can be provided with product suction nozzles 4 of various shapes.
In the above technical solution, the distribution of the vacuum air passage 2 and the product air passage 3 can be determined according to the specific distribution position of the product suction nozzle 4.
Preferably, the product nozzle 4 is a concave nozzle structure or a convex nozzle structure. The product suction nozzle 4 shown in fig. 3 is a concave suction nozzle structure, which is particularly suitable for sucking the vulcanized rubber sheet 23 related to the patent, for example, as shown in fig. 18, the shape of the concave product suction nozzle 4 is matched with the shape of the crown of the plug in the vulcanized rubber sheet 23, so that the vulcanized rubber sheet 23 can be easily sucked and positioned; the product suction nozzle 4 shown in fig. 4 and 5 has a convex nozzle structure, and can suck a product with a corresponding shape, and in any case, the shape of the product suction nozzle 4 can be determined according to the actual product shape.
Preferably, the conveyer belt 1 is around locating drive roll 6 and driven voller 7 surface, the rotation axis at drive roll 6 and driven voller 7 both ends passes through the bearing and installs on frame 8, and the rotation axis of drive roll 6 is connected with driving motor's output, frame 8 and connecting rod 9 fixed connection, be equipped with coupling flange 10 on the connecting rod 9, coupling flange 10 is connected with the manipulator. In this embodiment, the robot arm can drive the whole end effector to move, the conveyor belt 1 is a part of the end effector, so the whole conveyor belt 1 can move, as shown in fig. 6, when the driving motor works, it drives the driving roller 6 to rotate, and because the conveyor belt 1 is wound on the surfaces of the driving roller 6 and the driven roller 7, both the conveyor belt 1 and the driven roller 7 rotate; the conveyor belt 1 in this embodiment can rotate by itself and can move as a whole.
Since the conveyor belt 1 pulls the pipeline 5 to move along with the conveyor belt, it is important how to arrange and limit the pipeline 5, and the method can be implemented in the following three forms:
example 1: as shown in fig. 10, a threaded shaft 11 is further fixedly arranged between the driving roller 6 and the driven roller 7, a threaded sleeve 12 in threaded fit with the threaded shaft 11 is sleeved on the threaded shaft 11, a threaded groove 13 is formed in the outer surface of the threaded sleeve 12, a pipeline 5 is wound in the threaded groove 13, the end portion of the pipeline 5 is connected with an exhaust pipe of a vacuum generation device through a pneumatic rotary joint 14, and the outer surface of the threaded sleeve 12 is in contact with the inner side of the conveyor belt 1. In this embodiment, when the driving roller 6 drives the driven roller 7 to rotate simultaneously through the conveyor belt 1, the outer surface of the threaded sleeve 12 is in contact with the inner side of the conveyor belt 1, so the threaded sleeve 12 also rotates synchronously on the surface of the threaded shaft 11, and because the threaded shaft 11 is in threaded fit with the threaded sleeve 12, the threaded sleeve 12 also moves axially on the threaded shaft 11 during rotation, and because the outer surface of the threaded sleeve 12 is provided with the threaded groove 13 and the pipeline 5 is wound in the threaded groove 13, the pipeline 5 can be always kept at the position shown in fig. 10 during winding of the pipeline 5 by the threaded sleeve 12, namely, the pipeline 5 is kept to be wound in the middle area of the whole conveyor belt 1, so that the pipeline 5 can synchronously move along with the moving direction of the conveyor belt 1.
Example 2: as shown in fig. 11, a pipeline limiting frame 15 having a T-shaped structure is further installed on the frame 8, and the pipeline 5 is wound on the pipeline limiting frame 15. In this kind of embodiment, pipeline 5 twines on pipeline spacing frame 15, and like this when conveyer belt 1 removes, pipeline 5 can slide at pipeline spacing frame 15 surface, prevents effectively that pipeline 5 from twining the damage that causes elsewhere.
Example 3: as shown in fig. 12 and 13, a grooved wheel 16 is further fixedly mounted at the outer end of the rotating shaft of the driving roll 6, the pipeline 5 is limited in the groove of the grooved wheel 16, a limiting pressure wheel 17 is arranged at one side of the grooved wheel 16, the limiting pressure wheel 17 rotates along with the rotation of the grooved wheel 16, and the pipeline 5 is tightly pressed in the groove of the grooved wheel 16. In this embodiment, when the driving roller 6 drives the driven roller 7 to rotate together through the conveyor belt 1, the grooved wheels 16 also rotate along with the driving roller, and the limiting pressure wheel 17 is close to the grooved wheels 16, so that the limiting pressure wheel 17 also rotates along with the rotation of the grooved wheels 16 and presses the pipeline 5 into the groove of the grooved wheels 16, thereby achieving the purpose of limiting the pipeline 5.
Preferably, as shown in fig. 14, the pipe 5 is connected to a compressed air line 27 and a vacuum generating device, which is a vacuum pump or a vacuum generator, through a three-way joint 26. After the design, two processes of air suction and air supply to the pipeline 5 can be realized, when the valve of the pipeline where the vacuum generating device is located is opened, the vacuum generating device sucks air to the pipeline 5, and when the valve of the pipeline where the compressed air pipeline 27 is located is opened, compressed air can be introduced into the pipeline 5.
In addition, the invention also discloses a using method of the hollow type vacuum conveyor belt, which comprises the following steps:
step 1): as shown in the upper side of fig. 15 and 16, the preformed film storage platform 18 is used for stacking preformed films 19, an isolation film 20 is padded between two adjacent preformed films 19, the robot drives the whole end effector to move above the preformed film storage platform 18, and controls the end effector to move downwards so that the lower side of the conveyor belt 1 contacts the isolation film 20 on the upper surface of the preformed film 19, the electromagnetic valve of the pipeline where the vacuum generating device is located is opened, and negative pressure is generated at the pipeline 5, the vacuum air passage 2, the product air passage 3 and the product suction nozzle 4, so that the isolation film 20 is sucked by the lower side of the conveyor belt 1; in this embodiment, the isolation film 20 is generally a polymer film of PET, PVC, or the like of about 0.2mm, and therefore has light weight, good flexibility, and easy adsorption.
Step 2): as shown in the lower drawing of fig. 16, the driving motor of the conveyor belt 1 is operated, and the robot drives the whole end effector to retreat, so that the conveyor belt 1 rotates and moves backwards, the release film 20 is gradually peeled off from the surface of the pre-formed film 19, and finally the release film 20 is adsorbed on the surface of the conveyor belt 1 and rotates to the upper side of the conveyor belt 1 (as shown in the upper drawing of fig. 17); in this process, the rotation speed V1 of the conveyor belt 1 is kept the same as the speed V2 of the entire backward movement of the conveyor belt 1, so that the conveyor belt 1 can peel the release film 20 off the preform film 19 by the torque generated by the vacuum suction force and completely peel and adhere the release film 20 to the conveyor belt 1 with the end effector simultaneously retreated.
Step 3): as shown in the lower side view of fig. 17, the robot drives the end effector to move above the isolation film storage platform 21, the driving motor of the conveyor belt 1 rotates in the reverse direction to rotate the conveyor belt 1 in the reverse direction, so that the isolation film 20 rotates to the lower side of the conveyor belt 1, the electromagnetic valve of the pipeline where the vacuum generating device is located is closed, and compressed air is introduced into the pipeline 5, so that the isolation film 20 falls off from the isolation film storage platform 21 under the action of self weight and pressure.
Step 4): as shown in the upper drawing of fig. 18, the robot drives the end-effector to move again above the pre-form film storage platform 18, and controls the end-effector to move down so that the lower side of the conveyor belt 1 contacts the pre-form film 19, and opens the solenoid valve of the line in which the vacuum generating means is located so that the lower side of the conveyor belt 1 sucks the pre-form film 19.
Step 5): as shown in the lower drawing of fig. 18, the driving motor of the conveyor belt 1 works, and the robot drives the whole end effector to retreat, so that the conveyor belt 1 rotates and moves backwards, the preformed film 19 is gradually peeled off from the surface of the release film 20, and finally the preformed film 19 is adsorbed on the surface of the conveyor belt 1 and rotates to the upper side of the conveyor belt 1; in this process, the rotation speed V1 of the conveyor belt 1 is kept the same as the speed V2 of the entire backward movement of the conveyor belt 1, so that the conveyor belt 1 can peel the prepreg sheet 19 off the release film 20 by the torque generated by the vacuum suction force and completely peel and adhere the prepreg sheet 19 to the conveyor belt 1 with the end effector simultaneously retreated.
Step 6): as shown in the upper drawing of fig. 19, the robot drives the end pick to move to the area of the vulcanizer 22, controls the end pick to enter above the vulcanizing mold 25 in the vulcanizer 22 and move down, so that the lower side of the conveyor belt 1 contacts the vulcanized rubber sheet 23 on the vulcanizing mold 25, ensures that the product suction nozzle 4 of the conveyor belt 1 is aligned with the stopper on the vulcanized rubber sheet 23, and opens the electromagnetic valve of the pipeline where the vacuum generating device is located, so that the lower side of the conveyor belt 1 sucks the vulcanized rubber sheet 23; in this process, since the shape of the recessed product suction nozzle 4 on the surface of the conveyor belt 1 is matched with the shape of the crown of the plug in the prepreg 23, the prepreg 23 can be easily positioned and sucked.
Step 7): as shown in the lower drawing of fig. 19, the driving motor of the conveyor belt 1 is operated, the robot drives the entire end effector to retreat to move out of the vulcanizer 22, so that the conveyor belt 1 moves backwards while rotating, the vulcanized rubber sheet 23 is gradually stripped from the surface of the vulcanization mould 25, finally the vulcanized rubber sheet 23 is adsorbed on the surface of the conveyor belt 1 and rotates to the upper side of the conveyor belt 1, and the premolding film 19 is rotated again to the lower side of the conveyor 1 (as shown in the upper drawing of fig. 20), the robot controls the end-effector to enter again above the vulcanizing mold 25 in the vulcanizing machine 22, at this time, the solenoid valve of the pipeline where the vacuum generating device is located is closed, and compressed air is introduced into the pipeline 5, so that the pre-forming rubber sheet 19 falls off on the vulcanizing mold 25 under the action of self weight and pressure (as shown in the lower side view of figure 20), then the mechanical arm drives the whole end pick to move out of the vulcanizing machine 22, and the vulcanizing machine 22 is started to carry out a vulcanizing process on the preformed rubber sheet 19 on the vulcanizing mould 25; in the process, the rotating speed V1 of the conveyor belt 1 is consistent with the speed V2 of the integral backward movement of the conveyor belt 1, so that the conveyor belt 1 can strip the vulcanized rubber sheet 23 from the die cavity of the vulcanization die 25 by utilizing the torque generated by the vacuum adsorption force, and completely strip and adsorb the vulcanized rubber sheet 23 on the conveyor belt 1 along with the synchronously backward end picker.
Step 8): as shown in fig. 21, the mechanical arm drives the end pick-up to move above the vulcanized rubber sheet storage platform 24, and the driving motor of the conveyor belt 1 rotates in reverse direction to make the conveyor belt 1 rotate in reverse direction, so that the vulcanized rubber sheet 23 in the step 7) rotates to the lower side of the conveyor belt 1, the electromagnetic valve of the pipeline where the vacuum generating device is located is closed, and compressed air is introduced into the pipeline 5, so that the vulcanized rubber sheet 23 falls off from the vulcanized rubber sheet storage platform 24 under the action of self weight and pressure. After the vulcanized rubber sheet 23 falls off from the vulcanized rubber sheet storage platform 24, workers can cut the vulcanized rubber sheet 23 into small pieces and then load the small pieces.
The hollow type vacuum conveyor belt related in the invention has the following advantages: firstly, the conveying is not limited in direction, and the vacuum adsorption conveying in any direction of X, Y, Z can be realized; secondly, the conveying area is not limited, the whole conveying belt can realize adsorption conveying, and if the belt surface and the belt side have the same adsorption conveying function; thirdly, the conveyor belt can still ensure high vacuum adsorption when the conveyor belt turns at the belt wheel, and when the conveyor belt rotates and passes through the belt wheel, the motion track of the conveyor belt is changed from linear motion to circumferential motion, so that the conveyor belt has larger torsion on an adsorbed object, and the torsion enables the conveyor belt to have the functions of stretching, peeling, twisting and automatic taking and placing. Therefore, the invention greatly expands the functions of the conveyor belt, has extremely wide application range and can be applied to the manufacturing of intelligent devices in daily use.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (10)
1. A hollow formula vacuum conveyor belt for intelligent robot end effector, includes conveyer belt (1), its characterized in that: the vacuum air flue (2) is arranged in the conveyor belt (1), the vacuum air flue (2) is communicated with one ends of the product air flues (3), and a vacuum joint (2.1) of the vacuum air flue (2) is connected with a vacuum generating device through a pipeline (5).
2. The hollow vacuum conveyor belt for an intelligent robotic end effector of claim 1, wherein: the vacuum air passages (2) are distributed in a grid mode or an S mode or parallel pipe networks.
3. The hollow vacuum conveyor belt for an intelligent robotic end effector of claim 1, wherein: the other end of the product air passage (3) is communicated with the product suction nozzle (4).
4. The hollow vacuum conveyor belt for an intelligent robotic end effector of claim 1, wherein: the product suction nozzle (4) is of a concave suction nozzle structure or a convex suction nozzle structure.
5. The hollow vacuum conveyor belt for an intelligent robotic end effector of claim 1, wherein: conveyer belt (1) is around locating drive roll (6) and driven voller (7) surface, the rotation axis at drive roll (6) and driven voller (7) both ends passes through the bearing and installs in frame (8), and the rotation axis of drive roll (6) is connected with driving motor's output, frame (8) and connecting rod (9) fixed connection, be equipped with coupling flange (10) on connecting rod (9), coupling flange (10) are connected with the manipulator.
6. The hollow vacuum conveyor belt for an intelligent robotic end effector of claim 5, wherein: still fixedly between drive roll (6) and driven voller (7) be equipped with screw thread axle (11), the cover is equipped with rather than screw-thread fit's screw thread sleeve (12) on screw thread axle (11), screw thread form recess (13) have been seted up to screw thread sleeve (12) surface, winding pipeline (5) in screw thread form recess (13), pipeline (5) tip are connected with the exhaust tube of vacuum production device through pneumatic rotary joint (14), screw thread sleeve (12) surface and conveyer belt (1) inboard contact.
7. The hollow vacuum conveyor belt for an intelligent robotic end effector of claim 5, wherein: still install pipeline spacing (15) that are T type structure on frame (8), pipeline (5) twine on pipeline spacing (15).
8. The hollow vacuum conveyor belt for an intelligent robotic end effector of claim 5, wherein: the outer end of a rotating shaft of the driving roller (6) is fixedly provided with a groove-shaped wheel (16), the pipeline (5) is limited in a groove of the groove-shaped wheel (16), one side of the groove-shaped wheel (16) is provided with a limiting pressing wheel (17), the limiting pressing wheel (17) rotates along with the rotation of the groove-shaped wheel (16), and the pipeline (5) is tightly pressed in the groove of the groove-shaped wheel (16).
9. The hollow vacuum conveyor belt for an intelligent robotic end effector of claim 1, wherein: the pipeline (5) is respectively connected with a compressed air pipeline (27) and a pipeline where a vacuum generating device is arranged through a three-way joint (26), and the vacuum generating device is a vacuum pumping pump or a vacuum generator.
10. A method of using the hollow vacuum conveyor belt of any one of claims 1 to 8, wherein: it comprises the following steps:
step 1): the pre-forming film storage platform (18) is used for stacking pre-forming films (19), an isolation film (20) is padded between two adjacent pre-forming films (19), the mechanical arm drives the whole end picking device to move to the position above the pre-forming film storage platform (18), and controls the end picking device to move downwards so that the lower side of the conveyor belt (1) contacts the isolation film (20) on the upper surface of the pre-forming film (19), an electromagnetic valve of a pipeline where the vacuum generating device is located is opened, and negative pressure is generated at the pipeline (5), the vacuum air passage (2), the product air passage (3) and the product suction nozzle (4) to enable the lower side of the conveyor belt (1) to suck the isolation film (20;
step 2): the driving motor of the conveyor belt (1) works, the manipulator drives the whole end effector to retreat, so that the conveyor belt (1) rotates and moves backwards, the isolating film (20) is gradually stripped from the surface of the preformed rubber sheet (19), and finally the isolating film (20) is adsorbed on the surface of the conveyor belt (1) and rotates to the upper side of the conveyor belt (1);
step 3): the manipulator drives the end effector to move above the isolation film storage platform (21), a driving motor of the conveyor belt (1) rotates reversely to enable the conveyor belt (1) to rotate reversely, so that the isolation film (20) rotates to the lower side of the conveyor belt (1), an electromagnetic valve of a pipeline where the vacuum generating device is located is closed, compressed air is introduced into the pipeline (5), and the isolation film (20) falls off on the isolation film storage platform (21) under the action of self weight and pressure;
step 4): the mechanical arm drives the end pick-up to move above the preformed film storage platform (18) again, controls the end pick-up to move downwards to enable the lower side of the conveyor belt (1) to contact the preformed film (19), and opens an electromagnetic valve of a pipeline where the vacuum generating device is located to enable the lower side of the conveyor belt (1) to suck the preformed film (19);
step 5): the driving motor of the conveyor belt (1) works, the manipulator drives the whole end pick-up to retreat, so that the conveyor belt (1) rotates and moves backwards, the preformed film (19) is gradually stripped from the surface of the isolating film (20), and finally the preformed film (19) is adsorbed on the surface of the conveyor belt (1) and rotates to the upper side of the conveyor belt (1);
step 6): the mechanical arm drives the end pick-up to move to the area where the vulcanizing machine (22) is located, the end pick-up is controlled to enter the upper portion of a vulcanizing mold (25) in the vulcanizing machine (22) and move downwards, so that the lower side of the conveying belt (1) is in contact with a vulcanized rubber sheet (23) on the vulcanizing mold (25), a product suction nozzle (4) of the conveying belt (1) is ensured to be aligned to a plug on the vulcanized rubber sheet (23), an electromagnetic valve of a pipeline where the vacuum generating device is located is opened, and the vulcanized rubber sheet (23) is sucked by the lower side of the conveying belt (1);
step 7): the driving motor of the conveyor belt (1) works, the manipulator drives the whole end pick-up to retreat and move out of the vulcanizing machine (22), so that the conveyor belt (1) moves backwards while rotating, the vulcanized rubber sheet (23) is gradually stripped from the surface of the vulcanization mould (25), finally the vulcanized rubber sheet (23) is adsorbed on the surface of the conveyor belt (1) and rotates to the upper side of the conveyor belt (1), the preformed rubber sheet (19) rotates to the lower side of the conveyor belt (1) again, the mechanical hand controls the end pick-up to enter the vulcanizing machine (22) again above a vulcanizing mold (25), at the moment, the electromagnetic valve of the pipeline where the vacuum generating device is positioned is closed, and compressed air is introduced into the pipeline (5) to lead the preformed rubber sheet (19) to fall off on the vulcanizing mould (25) under the action of self weight and pressure, then the mechanical arm drives the whole end picking device to move out of the vulcanizing machine (22), and the vulcanizing machine (22) is started to carry out a vulcanizing process on the preformed rubber sheet (19) on the vulcanizing mould (25);
step 8): the manipulator drive end effector moves to vulcanized rubber piece and deposits platform (24) top, and the driving motor antiport of conveyer belt (1) makes conveyer belt (1) antiport also for vulcanized rubber piece (23) in step 7) rotate to conveyer belt (1) downside, closes the solenoid valve of vacuum generating device place pipeline, and lets in compressed air to pipeline (5), makes vulcanized rubber piece (23) drop under dead weight and pressure effect on vulcanized rubber piece deposits platform (24).
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| CN111776602B (en) | 2021-08-17 |
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