CN214779149U - Film conveying device and glue grabbing manipulator thereof - Google Patents
Film conveying device and glue grabbing manipulator thereof Download PDFInfo
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- CN214779149U CN214779149U CN202023344751.5U CN202023344751U CN214779149U CN 214779149 U CN214779149 U CN 214779149U CN 202023344751 U CN202023344751 U CN 202023344751U CN 214779149 U CN214779149 U CN 214779149U
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Abstract
The utility model discloses a film conveyor and grab gluey manipulator thereof, grab gluey manipulator and include: the grabbing device (4) is provided with a mechanical arm for grabbing the film on the film hanging rod (8); the film pressing device comprises a plurality of pressing roller devices, a plurality of conveying belts and a plurality of pressing roller devices, wherein the plurality of pressing roller devices are matched with the plurality of conveying belts one by one; and the moving conveying device is used for driving the mechanical arm to move among the conveying belts. The utility model provides a grab gluey manipulator, above-mentioned grab gluey manipulator can realize snatching and carrying the operation of film to a plurality of transmission bands, has made things convenient for the film transmission, has effectively improved production efficiency.
Description
Technical Field
The utility model relates to a film conveying equipment technical field, in particular to film conveyor and grab gluey manipulator thereof.
Background
In a rubber sheet cooling production line of a rubber banburying workshop, the cooled rubber sheets are often conveyed to a first floor and a second floor for secondary mixing of rubber materials. That is, at least two transport belts are required to transport the film.
Present glue machine hand of grabbing only can snatch the film and carry to single transmission band, consequently, glue machine hand of grabbing only can the unilateral carry, and the function is single, consequently, can't realize the operation to two at least transmission band transmission films, need set up the indirect transmission film of middle transmission structure, influences production efficiency.
Therefore, how to improve the production efficiency is a problem to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a glue grabbing manipulator to improve production efficiency. The utility model also provides a film conveyor of having above-mentioned glue manipulator of grabbing.
In order to achieve the above object, the utility model provides a following technical scheme:
a glue grasping robot comprising:
the grabbing device is provided with a mechanical arm for grabbing the film on the film hanging rod;
the film pressing device comprises a plurality of pressing roller devices, a plurality of conveying belts and a plurality of pressing roller devices, wherein the plurality of pressing roller devices are matched with the plurality of conveying belts one by one;
and the moving conveying device is used for driving the mechanical arm to move among the conveying belts.
Optionally, in the above glue grasping manipulator, the grasping apparatus further includes:
the device body is driven to move by the mobile conveying device, and the manipulator stretches and retracts relative to the device body;
and the driving device drives the mechanical arm to perform telescopic motion.
Alternatively, in the above-described glue grasping robot, the robot may be rotatable with respect to the apparatus main body;
alternatively, the apparatus main body may be rotatable with respect to the mobile conveyance apparatus.
Optionally, in the above glue grasping manipulator, the grasping apparatus further includes:
the lower limit detection switch is used for detecting whether the manipulator reaches a grabbing position, the lower limit detection switch is in communication connection with a grabbing driving device which drives the manipulator to grab, and the grabbing position is a position on the glue hanging rod for the manipulator to grab the film;
and/or an upper limit detection switch for detecting whether the manipulator moves up to an upper limit position, wherein the upper limit detection switch is in communication connection with the mobile conveying device;
and/or a stop detection switch for detecting whether the device main body moves to a stop position, wherein the stop detection switch is in communication connection with the compression roller device; the stop position is a position where the mechanical arm places a film on the conveying belt;
and/or a transmission detection switch for detecting whether the pressure roller device presses the film to the transmission belt, wherein the transmission detection switch is used for being in communication connection with a starting device of the transmission belt.
Optionally, in the above glue grasping robot, the pressure roller device includes:
a connecting rod, one end of which is hinged with the device body;
the compression roller is arranged at the other end of the connecting rod;
a linear drive device, a body of the linear drive device being hinged to one of the device body and the non-hinged portion of the connecting rod, a drive end of the linear drive device being hinged to the other of the device body and the non-hinged portion of the connecting rod.
Optionally, in the above glue grasping manipulator, the press roller device includes a first press roller device and a second press roller device;
the first compression roller device and the second compression roller device are symmetrically arranged on two sides of the grabbing device.
Optionally, in the above glue grasping robot, the movable conveying device includes:
a moving beam along which the gripping device is movable;
the top end of the support column is connected with the movable cross beam;
and the driving device drives the gripping device to move along the movable cross beam, and the driving device is arranged at one end of the movable cross beam.
The utility model also provides a film conveying device, including the transmission band, grab the rubber coating manipulator and glue hanging rod, the transmission band includes first transmission band and second transmission band, the direction of first transmission band with the second transmission band is different, still include the grab rubber coating manipulator as above-mentioned any one;
the moving conveying device drives the gripping device to move towards a first conveying belt, and at least one compression roller device presses the film towards the first conveying belt;
the movable conveying device drives the gripping device to move towards the second conveying belt, and at least one compression roller device presses the film towards the second conveying belt.
Alternatively, in the above-described film conveying apparatus, the first conveying belt is a conveying belt structure that is inclined upward in its conveying direction;
the second transmission band is horizontal transmission band structure.
Optionally, in the film conveying device, the glue hanging rod is provided with a glue grasping station for the grasping device to grasp the film;
still including being used for detecting whether grab gluey station has the film detection device of film, detection device with grabbing device communication is connected.
According to the above technical scheme, the utility model provides a glue grabbing manipulator, because remove conveyor and be used for driving manipulator to remove between a plurality of transmission bands, consequently, grabbing device's manipulator can make the manipulator remove to any one transmission band in a plurality of transmission bands through the drive that removes conveyor after snatching the film on the kiss-coating pole. The number of the press roller devices is a plurality of and is matched with the plurality of transmission belts one by one, so that the press roller devices are used for pressing the films to the transmission belts. After grabbing the film on the kiss-coating pole, when needs move the film to the direction of transmission of a transmission band, grabbing device's manipulator will snatch the film to this transmission band to press down the film to this transmission band with this transmission band complex compression roller device, through the start-up of this transmission band, make this conveyer band transport the film. The embodiment of the utility model provides a grab gluey manipulator, the aforesaid is grabbed gluey manipulator and can be realized snatching and carrying the operation of film to a plurality of transmission bands, has made things convenient for the film transmission, has effectively improved production efficiency.
The utility model provides a film conveying device, because the above-mentioned rubber machine hand of grabbing has above-mentioned technological effect, the film conveying device who has the above-mentioned rubber machine hand of grabbing also should have same ground technological effect, no longer describes one by one here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of a first station of a glue grasping manipulator according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a second station of the glue grasping manipulator according to the embodiment of the present invention;
fig. 3 is a schematic diagram of a third station of the glue grasping manipulator according to the embodiment of the present invention;
fig. 4 is a fourth station schematic diagram of the glue grasping manipulator provided by the embodiment of the present invention.
Detailed Description
The utility model discloses a glue grabbing manipulator to improve production efficiency. The utility model also provides a film conveyor of having above-mentioned glue manipulator of grabbing.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, the embodiment of the utility model provides a glue grabbing manipulator, include: grabbing device 4, compression roller device and removal conveyor. The grabbing device 4 is provided with a mechanical arm for grabbing the film on the film hanging rod 8; the compression roller devices are used for pressing the films to the conveying belts, the number of the compression roller devices is multiple, and the multiple compression roller devices can be matched with the multiple conveying belts one by one; the mobile conveying device is used for driving the mechanical arm to move between the plurality of conveying belts.
The embodiment of the utility model provides a glue grabbing manipulator, because remove conveyor and be used for driving manipulator to remove between a plurality of transmission bands, consequently, gripping device 4's manipulator snatchs the film back on the kiss-coating pole 8, can make the manipulator remove to arbitrary one transmission band in a plurality of transmission bands through the drive that removes conveyor. The number of the press roller devices is a plurality of and is matched with the plurality of transmission belts one by one, so that the press roller devices are used for pressing the films to the transmission belts. After grabbing the film on the kiss-coating pole 8 with grabbing device 4's manipulator, when the transmission direction with the film to a transmission band moves, grabbing device 4's manipulator will snatch the film to this transmission band to press down the film to this transmission band with this transmission band complex compression roller device, through the start-up of this transmission band, make this conveyer band transport the film. The embodiment of the utility model provides a grab gluey manipulator, the aforesaid is grabbed gluey manipulator and can be realized snatching and carrying the operation of film to a plurality of transmission bands, has made things convenient for the film transmission, has effectively improved production efficiency.
The robot may include a plurality of claw heads, and the film is gripped by closing the claw heads and released by opening the claw heads.
In this embodiment, the gripping device 4 further includes a device body and a driving device. The movable conveying device drives the device main body to move, and the manipulator stretches relative to the device main body; the driving device drives the manipulator to do telescopic motion. The manipulator is driven by the driving device to move relative to the device body in a telescopic mode, and the horizontal position of the manipulator can be adjusted, so that the manipulator can place the film on the film hanging rod 8 to the conveying belt after grabbing the film.
For the purpose of gripping, the manipulator can rotate relative to the apparatus body; alternatively, the apparatus main body can be rotated relative to the mobile conveyance apparatus. Through the arrangement, the mechanical arm can have a rotating function, so that when the mechanical shaft is used for grabbing a film on the film hanging rod 8 and has position deviation, the mechanical arm rotates relative to the device main body or the device main body rotates relative to the mobile conveying device, and self-adaptive error grabbing can be achieved.
The gripping device 4 further includes a lower limit detection switch and an upper limit detection switch in consideration of the degree of automation. The lower limit detection switch is used for detecting whether the manipulator reaches a grabbing position, the lower limit detection switch is in communication connection with a grabbing driving device driving the manipulator to grab, and the grabbing position is a position on the glue hanging rod 8 where the manipulator grabs the film. The upper limit detection switch is used for detecting whether the manipulator moves upwards to an upper limit position or not, and the upper limit detection switch is in communication connection with the mobile conveying device. When the manipulator reaches the film grabbing position of the glue hanging rod 8, the lower limit detection switch is controlled to be electrically induced, and then the grabbing driving device is controlled to drive the manipulator to grab the film at the corresponding position. After the gripping, the film rises with the upward movement of the robot. When the manipulator reaches the upper limit position, the upper limit detection switch is electrified and sensed, and then the movable conveying device is controlled to start to drive the gripping device 4 to move to the conveying belt at the corresponding position. The upper limit position can be determined according to actual requirements, and only the upward displacement of the film is needed without influencing subsequent transfer.
Of course, only the lower limit detection switch or the upper limit detection switch may be provided.
Among them, the lower limit detection switch and the upper limit detection switch are preferably magnetic switches.
The device also comprises a stop detection switch, wherein the stop detection switch is used for detecting whether the device main body moves to a stop position or not and is in communication connection with the compression roller device; the stop position is the position for placing the film to the conveying belt by the mechanical arm. When the main body (the gripping device 4) of the moving conveying device driving device moves and reaches the stop position, the film gripped by the manipulator of the gripping device 4 reaches the corresponding position of one conveying belt, at the moment, after the stop detection switch is electrified to be sensed, the manipulator releases to place the film on the conveying belt, and the corresponding compression roller device presses the film to the conveying belt.
Among them, the stop detection switch is preferably a proximity switch.
The film pressing device further comprises a transmission detection switch, the transmission detection switch is used for detecting whether the film is pressed towards the transmission belt by the pressing roller device, and the transmission detection switch is used for being in communication connection with a starting device of the transmission belt. When the transmission detection switch detects that the compression roller device presses the film to the transmission belt, the starting device of the transmission belt runs, so that the transmission belt starts to transmit the film.
In the embodiment, the compression roller device comprises a connecting rod, a compression roller and a linear driving device, wherein one end of the connecting rod is hinged with the device body; the compression roller is arranged at the other end of the connecting rod; the body of the linear drive device is hinged to one of the device body and the non-hinged portion of the connecting rod, and the drive end of the linear drive device is hinged to the other of the device body and the non-hinged portion of the connecting rod. By means of the above arrangement, the press roller device is moved together with the gripping device 4. When the film is pressed to the transmission band by the pressing roller device, the linear driving device is started, so that the connecting rod of the pressing roller device rotates relative to the device main body and the hinged position of the connecting rod, the position of the pressing roller is adjusted, the pressing roller moves towards the transmission band matched with the pressing roller device, and the operation of pressing the film to the transmission band is completed.
As shown in fig. 1 to 4, the roll apparatus includes a first roll apparatus 6 and a second roll apparatus 3; the first press roller device 6 and the second press roller device 3 are symmetrically arranged at two sides of the grabbing device 4. Through the setting, the film can be conveyed to two conveying belts which are correspondingly arranged with the first compression roller device 6 and the second compression roller device 3, and the first compression roller device 6 and the second compression roller device 3 are symmetrically arranged at two sides of the grabbing device 4, so that the arrangement of the two conveying belts is facilitated.
In this embodiment, the number of the roll apparatuses is two, that is, the first roll apparatus 6 and the second roll apparatus 3. The first pressing roller device 6 and the second pressing roller device 3 can also be arranged at an included angle smaller than 180 degrees, and only need to be correspondingly adjusted according to the actual layout of the conveying belt.
Other numbers of roller assemblies may be provided, such as three roller assemblies, four roller assemblies, or five roller assemblies, etc.
Further, the mobile conveying device comprises a mobile beam, a support column and a driving device 2. Wherein the gripping device 4 can move along the moving beam; the top end of the supporting column is connected with the movable cross beam; the driving device 2 drives the gripping device 4 to move along the moving beam. The support frame is formed by the movable beam and the support columns, and the driving device 2 drives the grabbing device 4 to move along the movable beam. In this embodiment, the driving device 2 is disposed at one end of the movable beam.
The utility model also provides a film conveying device, including the transmission band, grab the rubber coating manipulator and kiss-coating pole 8, the transmission band includes first transmission band 1 and second transmission band 7, the direction of first transmission band 1 is different with second transmission band 7, still include above-mentioned any kind grab the rubber coating manipulator; the movable conveying device drives the gripping device 4 to move towards the first conveying belt 1, and at least one compression roller device presses the film towards the first conveying belt 1; the moving conveyor drives the gripping device 4 to move towards the second conveyor belt 7, and at least one press roller device presses the film towards the second conveyor belt 7.
The utility model provides a film conveying device, because the above-mentioned rubber machine hand of grabbing has above-mentioned technological effect, the film conveying device who has the above-mentioned rubber machine hand of grabbing also should have same ground technological effect, no longer describes one by one here.
In the present embodiment, the first conveying belt 1 is a conveying belt structure that is inclined upward in its conveying direction. By being inclined upward, the film can be conveyed to a position where the horizontal position is higher. For example, the rubber is conveyed from the first floor to the second floor for secondary mixing of the rubber.
And the second conveyor belt 7 is a horizontal conveyor belt structure. I.e., the film is conveyed in a horizontal position.
In this embodiment, the first conveying belt 1 and the second conveying belt 7 are disposed on two sides of the glue grasping manipulator. Thus, the mobile conveyor drives the robot (gripper 4) to move between the first conveyor belt 1 and the second conveyor belt 7. As shown in fig. 1, the mobile conveyor drives the robot (gripper 4) to the intermediate station. As shown in fig. 2, the robot arm of the gripper device 4 reaches the glue grasping station 9. As shown in fig. 3, the mobile conveyor drives the robot (gripper 4) to the left station. In this case, the first press roller device 6 is used in cooperation with the first conveyor belt 1. As shown in fig. 4, the mobile conveyor drives the robot (gripper 4) to the right station. At this time, the second conveying belt 7 is used in cooperation with the second press roller device 3.
The glue hanging rod 8 is provided with a glue grabbing station 9 for the grabbing device 4 to grab the glue film; the film conveying device also comprises a film detection device for detecting whether the film exists at the film grabbing station 9, and the detection device is in communication connection with the grabbing device 4. That is, when the film detecting device detects that there is film at the film catching station 9, the driving device of the catching device 4 drives the manipulator thereof to move to the film catching station 9.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a grab gluey manipulator which characterized in that includes:
the grabbing device (4) is provided with a mechanical arm for grabbing the film on the film hanging rod (8);
the film pressing device comprises a plurality of pressing roller devices, a plurality of conveying belts and a plurality of pressing roller devices, wherein the plurality of pressing roller devices are matched with the plurality of conveying belts one by one;
and the moving conveying device is used for driving the mechanical arm to move among the conveying belts.
2. The glue grasping robot according to claim 1, wherein the grasping device (4) further comprises:
the device body is driven to move by the mobile conveying device, and the manipulator stretches and retracts relative to the device body;
and the driving device drives the mechanical arm to perform telescopic motion.
3. The glue grasping robot according to claim 2, wherein the robot is rotatable with respect to the apparatus main body;
alternatively, the apparatus main body may be rotatable with respect to the mobile conveyance apparatus.
4. The glue grasping robot according to claim 2, characterized in that the grasping means (4) further comprise:
the lower limit detection switch is used for detecting whether the mechanical arm reaches a grabbing position, the lower limit detection switch is in communication connection with a grabbing driving device which drives the mechanical arm to grab, and the grabbing position is a position on the glue hanging rod (8) where the mechanical arm grabs the film;
and/or an upper limit detection switch for detecting whether the manipulator moves up to an upper limit position, wherein the upper limit detection switch is in communication connection with the mobile conveying device;
and/or a stop detection switch for detecting whether the device main body moves to a stop position, wherein the stop detection switch is in communication connection with the compression roller device; the stop position is a position where the mechanical arm places a film on the conveying belt;
and/or a transmission detection switch for detecting whether the pressure roller device presses the film to the transmission belt, wherein the transmission detection switch is used for being in communication connection with a starting device of the transmission belt.
5. A glue grasping robot according to claim 2, wherein the press roller device comprises:
a connecting rod, one end of which is hinged with the device body;
the compression roller is arranged at the other end of the connecting rod;
a linear drive device, a body of the linear drive device being hinged to one of the device body and the non-hinged portion of the connecting rod, a drive end of the linear drive device being hinged to the other of the device body and the non-hinged portion of the connecting rod.
6. A glue grasping robot according to claim 1, wherein the press roller means comprises a first press roller means (6) and a second press roller means (3);
the first pressing roller device (6) and the second pressing roller device (3) are symmetrically arranged on two sides of the grabbing device (4).
7. A glue grasping robot according to any one of claims 1 to 6, wherein the moving conveyor comprises:
a mobile cross-beam along which the gripping device (4) can move;
the top end of the support column is connected with the movable cross beam;
and the driving device (2) drives the gripping device (4) to move along the movable cross beam, and the driving device (2) is arranged at one end of the movable cross beam.
8. A film conveying device, comprising a conveying belt, a film grabbing mechanical arm and a film hanging rod (8), wherein the conveying belt comprises a first conveying belt (1) and a second conveying belt (7), the directions of the first conveying belt (1) and the second conveying belt (7) are different, and the film conveying device is characterized by further comprising the film grabbing mechanical arm according to any one of claims 1-7;
the moving conveying device drives the gripping device (4) to move towards the first conveying belt (1), and at least one compression roller device presses the film towards the first conveying belt (1);
the moving conveying device drives the gripping device (4) to move towards the second conveying belt (7), and at least one compression roller device presses the film towards the second conveying belt (7).
9. The film transporting apparatus according to claim 8, wherein the first transporting belt (1) is a transporting belt structure which is inclined upward in its transporting direction;
the second conveying belt (7) is of a horizontal conveying belt structure.
10. A film conveying apparatus according to claim 9, wherein said glue hanging rod (8) is provided with a film grasping station (9) for grasping a film by said grasping means (4);
the film grabbing device is characterized by further comprising a film detection device for detecting whether the film is arranged at the film grabbing station (9), and the detection device is in communication connection with the grabbing device (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023344751.5U CN214779149U (en) | 2020-12-31 | 2020-12-31 | Film conveying device and glue grabbing manipulator thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023344751.5U CN214779149U (en) | 2020-12-31 | 2020-12-31 | Film conveying device and glue grabbing manipulator thereof |
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| Publication Number | Publication Date |
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| CN214779149U true CN214779149U (en) | 2021-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202023344751.5U Active CN214779149U (en) | 2020-12-31 | 2020-12-31 | Film conveying device and glue grabbing manipulator thereof |
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| CN (1) | CN214779149U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180396A (en) * | 2022-09-08 | 2022-10-14 | 山东华盛橡胶有限公司 | Film grabbing and transferring device |
-
2020
- 2020-12-31 CN CN202023344751.5U patent/CN214779149U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180396A (en) * | 2022-09-08 | 2022-10-14 | 山东华盛橡胶有限公司 | Film grabbing and transferring device |
| CN115180396B (en) * | 2022-09-08 | 2022-12-13 | 山东华盛橡胶有限公司 | Film grabbing and transferring device |
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