KR101740287B1 - Ribbon rubber loading device - Google Patents

Ribbon rubber loading device Download PDF

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Publication number
KR101740287B1
KR101740287B1 KR1020150135951A KR20150135951A KR101740287B1 KR 101740287 B1 KR101740287 B1 KR 101740287B1 KR 1020150135951 A KR1020150135951 A KR 1020150135951A KR 20150135951 A KR20150135951 A KR 20150135951A KR 101740287 B1 KR101740287 B1 KR 101740287B1
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KR
South Korea
Prior art keywords
ribbon rubber
pallet
pressing
gripper
rubber
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KR1020150135951A
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Korean (ko)
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KR20170036581A (en
Inventor
하춘식
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하춘식
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Priority to KR1020150135951A priority Critical patent/KR101740287B1/en
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Publication of KR101740287B1 publication Critical patent/KR101740287B1/en

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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
    • B65G57/00—Stacking of articles
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Tyre Moulding (AREA)
  • Manipulator (AREA)

Abstract

An object of the present invention is to provide a ribbon rubber loading apparatus which increases space efficiency by continuously loading ribbon rubber on the upper surface of a pallet by using an industrial robot and a pressurizing apparatus.
According to an aspect of the present invention, there is provided a ribbon rubber loading apparatus for loading continuously discharged ribbon rubber on a pallet, comprising: a base supporting the entire structure and on which a pallet is seated; A pallet transporting device for supplying and discharging pallets to and from the base; A discharging device located at an upper end of the base to discharge the ribbon rubber; A robot repeatedly carrying out a mode of arranging one surface of the ribbon rubber discharged from the discharge device through the discharge device in a reciprocating manner on the upper surface of the pallet in succession using a gripper and then vertically reciprocating; A pressing device located at an upper end of the pallet and interlocking with the position of the gripper to feed the ribbon rubber in a direction of the pallet while pressing the ribbon rubber; And a control device for controlling the operation of the pressure device based on the position of the gripper.

Description

Ribbon rubber loading device [0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ribbon rubber loading apparatus, and more particularly, to a ribbon rubber loading apparatus that automatically loads continuously supplied ribbon rubber by pallet unit.

The rubber is used for various industrial applications, and in particular, ribbons having a narrow width are produced continuously as an intermediate material in the production of rubber, and the ribbons are generally cut and processed to produce finish materials.

At this time, the continuously produced rubber ribbons are stacked on top of the pallet and moved, and the loading of the rubber ribbons as described above is generally carried out manually.

Especially, rubber has high elasticity, so that the stacking height is not constant when stacking, and when space is used many times on a single plane, space utilization is often inefficient.

 Various apparatuses have been proposed for the processing of the ribbon rubber which exhibits the above-mentioned characteristics. No. 738656, for example, discloses a sheet rubber automatic feeder capable of supplying rubber without loss of labor and working time of a worker. The sheet rubber automatic feeder includes a sating mill for squeezing the compounded rubber, Off device for supplying and cooling the sheet rubber that has passed through the transfer solution applying device by the transfer conveyor, and a stacking conveyor for stacking the sheet rubber past the batch-off device A photosensor installed between the placement off device and the lamination conveyor in the sheet rubber loading system and installed to sense the presence of the sheet rubber at a portion where the sheet rubber of the placement off device is discharged; A cylinder 1 which is provided at the end thereof with a rubber pressure sensor and a gripper for gripping the seat rubber and which can be moved up and down; A cylinder 2 having a rubber fixing pressure pin formed at an end thereof so as to push up the sheet rubber lifted by the rubber tongue of the cylinder 1 above the lamination conveyor; And a cylinder 3 which is pushed by a squeezing roll formed on the end so as not to release the sheet rubber put on the laminated conveyor.

In addition, in a self-loading device of a refining sheet rubber in which raw material mixed raw materials and chemicals are manufactured as sheet rubber through rolls and carried through a looper and a conveying conveyor and piled up in a zigzag manner on a pallet, The conveying conveyor is provided with front and rear pressing portions for forming a wave-shaped compression groove in the widthwise direction on the upper and lower surfaces of the sheet rubber being moved, respectively. A loading conveyor is connected to the front and rear cylinders between the end of the conveying conveyor and the pallet to reciprocate along the LM guide The automatic loading device for the sheet rubber is disclosed.

No. 919862 discloses a wig-weighing apparatus for a tire-making sheet rubber, which carries a sheet rubber from a mixer to a conveyor belt conveyor and stacks the wafers on a palette of a table via a wig- The sheet rubber, which is guided through the space between the left and right conveyor belts, is stacked on a pallet of a pallet conveyed by a conveyance belt conveyor, And a structure that acts to move up and down by an up-and-down action of the X-shaped lift link band acting by the X-shaped lift link band.

As described above, the ribbon (sheet) rubber is mostly loaded in a zigzag form, and these patents are characterized in that they include constructions for loading in a zigzag form.

However, in the case of a ribbon rubber having a narrow width, a ribbon rubber is moved and loaded on a single pallet surface. When one side is completely stacked, the next one is loaded. Therefore, the loading efficiency is high due to the elasticity of the folded portion of the ribbon rubber not.

Since the above-mentioned patents apply the ribbon rubber which is the same as the width of the pallet, there is a disadvantage that efficient loading can not be performed when the ribbon rubber is loaded on a single surface many times.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a ribbon rubber loading apparatus that increases the space efficiency by continuously loading ribbon rubber on the upper surface of a pallet using an industrial robot and a pressurizing device.

According to an aspect of the present invention, there is provided a ribbon rubber loading apparatus for loading continuously discharged ribbon rubber on a pallet, comprising: a base supporting the entire structure and on which a pallet is seated; A pallet transporting device for supplying and discharging pallets to and from the base; A discharging device located at an upper end of the base to discharge the ribbon rubber; A robot repeatedly carrying out a mode of arranging one surface of the ribbon rubber discharged from the discharge device through the discharge device in a reciprocating manner on the upper surface of the pallet in succession using a gripper and then vertically reciprocating; A pressing device located at an upper end of the pallet and interlocking with the position of the gripper to feed the ribbon rubber in a direction of the pallet while pressing the ribbon rubber; And a control device for controlling the operation of the pressure device based on the position of the gripper.

Preferably, the pressing device includes: a support part in the form of a rectangular frame, which is coupled with a vertical guide formed on the base and is vertically conveyed by the operation of the linear actuator of the vertical guide; And a pressing part located on each side of the support part, wherein when the gripper is conveyed to the left and right, the pressing part located at the upper and lower sides is opened, and the pressing part located at the right and left sides presses the ribbon rubber in a pressed state, Wherein when the gripper is vertically conveyed, the pressing portion located on the left and right is opened and the pressing portion located on the upper and lower sides presses the ribbon rubber in a pressed state, And controls the gripper to be opened when the gripper is positioned at the upper end of each of the upper and lower pressing portions.

More preferably, the pressing portion includes a pressing plate hinged to the supporting portion and a pressing actuator for driving the pressing plate, wherein the controller controls the pressing device to move the pressing device in the upward direction of the pallet when the pressing plate is at a predetermined angle or more during the pressing operation And a control unit.

More preferably, the gripper includes a plurality of jaws, a jaw actuator for controlling the opening and closing of the jaws, and a plurality of driving rollers located on the jaw inner surface, the ribbon rubber being located on the jaw inner surface, And is discharged from the grip by the rotation of the drive roller.

More preferably, the base further includes a cutting device for cutting the ribbon rubber discharged through the discharge device.

The ribbon rubber loading apparatus according to the present invention guides the ribbon rubber continuously supplied using the industrial robot to the upper surface position of the pallet and presses the side surface of the loaded rubber through the pressurizing device, So that the ribbons can be efficiently loaded on the upper surface of the pallet to provide high productivity.

1 is a configuration diagram of a ribbon rubber loading apparatus according to the present invention,
Fig. 2 is a configuration diagram of the base shown in Fig. 1,
Fig. 3 is a configuration diagram of the pressurizing device shown in Fig. 1,
4 is a configuration diagram of the pressing portion shown in Fig.
Fig. 5 is a configuration diagram of the gripper shown in Fig. 1,
6 is a configuration diagram for explaining the operating state of the pressurizing device shown in Fig. 1,
Fig. 7 is a configuration diagram for explaining another operating state of Fig. 6,
8 is a configuration diagram for explaining the ascending operation of the pressurizing device shown in Fig.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1, a ribbon rubber loading apparatus 100 according to the present invention includes a base 10, a pallet transporting apparatus 20, a robot 30, a pressurizing device 40 for transporting the base 10 up and down, A discharging device 60 for discharging the ribbon rubber 1 continuously, a cutting device 70 for cutting the ribbon rubber 1, and a control device 90 for controlling the operation of the entire apparatus.

The base 10 supports the entire apparatus and serves as a guide. The base 10 includes a bottom 11 on which the pallet 2 is seated, A plurality of vertical guides 12 extending in the upward direction, a discharge portion 13 to which the discharge device 60 is attached, and a robot support portion 14 on which the robot 30 is mounted.

At this time, the robot supporting part 14 may be separated from the base 10 if necessary, and a load sensor 19 for sensing the weight of the pallet 2 is attached to the bottom part 11.

A pallet transport device 20 is located on the side of the base 10. The pallet transporting apparatus 20 transports the pallet 2 positioned at the upper end to the base 10 and transports the pallet 2 backward when the loading of the ribbon rubber 1 is completed, And a conveyor device 22 for conveying the pallet 2 to the side of the pallet 2 taken out through the device 21 and the placing device 21. [

The seat device 21 is configured to operate in conjunction with the load sensor 19.

The conveying device 22 is configured to rotate a plurality of rollers in a conventional manner. The output signal of the load sensor 19 is transmitted to the conveying device 22, And the operations of the placing device 21 and the conveyor device 22 are also controlled through the control device 90. [

The linear actuator 12 is attached to the vertical guide 12, and the pressing unit 40 is coupled to the feeding unit of the linear actuator, and the vertical actuator 12 is vertically fed by the linear actuator.

3, the pressing device 40 includes a supporting portion 41 in the form of a rectangular frame, and the vertical guide 12 is configured to be positioned at the corner of the supporting portion 41. As shown in FIG.

Further, the supporting portion 41 includes four pressing portions 42 provided on the respective sides.

4, the pressing portion 42 includes a pressing plate 43 which is hingedly coupled to the supporting portion 41, a linear plate 43 which is hinged to the pressing plate 43 and the supporting portion 41, (Not shown).

The pressing plate 43 is rotated and is positioned inside the supporting portion 41. When the pressing actuator 44 is returned to the pressing position, And is positioned vertically to the support portion 41.

The robot 30 is an industrial manifolder and a gripper 31 is attached to an end of the gripper 31. The gripper 31 presses the ribbon rubber 1 continuously discharged through the discharging device 60, The jaw actuator 33 for adjusting the positions of the two jaws 32 and the jaws 32 as shown in Fig. 5, And a plurality of driving rollers 34 for feeding the ribbon rubber 1 that is seated thereon, and the driving roller 34 rotates through a separate driving motor.

That is, the gripper 31 seats the ribbon rubber 1 discharged through the discharging device 60 between the jaws 32 and drives the driving roller 34 to discharge the ribbon rubber 1 downward , And the robot (30) controls the position of the ribbon rubber (1) discharged through the gripper (31).

On the other hand, the cutting device 70 serves to cut the ribbon rubber 1 when the ribbon rubber 1 is loaded and finished. At this time, it is preferable that the loading operation is performed based on the weight of the pallet 2.

On the other hand, the control device 90 performs the input / output of the pallet 2, the operation of the pressurizing device 40, the control of the robot 30 and the gripper 31, and the like.

Particularly, the control device 90 controls the pressing device 40 according to the position of the gripper 31 to automatically perform the loading of the ribbon rubber 1.

6, when the pallet 2 is received, the control device 90 places the ribbon rubber 1 on the gripper 31 of the robot 30 and then places the ribbon rubber 1 on the left and right do. At this time, when the gripper 31 approaches the position, the left and right pressing portions 42 are positioned vertically and operate so that the ribbon rubber 1 is disposed on the pressing portion 42. Then, The ribbon rubber 1 is driven in the form of pressing. At this time, the upper and lower pressing portions 42 maintain the open shape (vertically arranged state).

Therefore, when the gripper 31 is moved to the left and right, the pressing portions 42 on both sides serve to support the ribbon rubber 1 continuously except when approaching the gripper 31.

When the left and right positioning is completed, the gripper 31 disposes the ribbon rubber 1 in the vertical direction as shown in FIG. 7. At this time, So that the ribbon rubber 1 is disposed. When the gripper 31 is transported in the other direction, the ribbon rubber 1 is kept pressed. Of course, the left and right pressing portions 42 remain open.

On the other hand, the ribbon rubber 1 is mounted on the upper end of the pallet 2 according to the operation of the gripper 31, and even if the pressing portion 42 is held in a pressurized state to some extent, Likewise, there is a restriction on the pressure angle.

The control device 90 drives the vertical guide 12 to feed the pressing device 40 upward by a predetermined distance and then feeds back the pressing device 40 The loading of the ribbon rubber 1 is carried out.

When the pressing device 40 reaches a predetermined height, the controller 90 drives the cutting device 70 to cut the ribbon rubber 1 to complete the loading of one pallet 2.

Then, after the pallet 2 is delivered and a new pallet 2 is loaded, the above-described ribbon rubber 1 loading process is performed.

The control device 90 is controlled in cooperation with the controller of the robot 30 and controls the pressing device 40 using the position information of the gripper 31.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, And all of the various forms of embodiments that can be practiced without departing from the technical spirit.

1: Ribbon rubber 2: Pallet
10: base 11: bottom part
12: vertical guide 13:
14: Robot support part 19: Load sensor
20: arm red transfer device 21: seat device
22: Conveyor device 30: Robot
32: Gripper 32: Encounters
33: Encounter actuator 34: Drive roller
40: pressure device 41: support
42: pressing portion 43: pressure plate
44: Pressurizing actuator 60: Discharging device
70: Cutting device 90: Control device
100: Ribbon rubber loading device

Claims (5)

delete A ribbon rubber loading apparatus for loading continuously discharged ribbon rubber on a pallet,
A base supporting the entire structure and on which the pallet is seated;
A pallet transporting device for supplying and discharging pallets to and from the base;
A discharging device located at an upper end of the base to discharge the ribbon rubber;
A robot repeatedly carrying out a mode of arranging one surface of the ribbon rubber discharged from the discharge device through the discharge device in a reciprocating manner on the upper surface of the pallet in succession using a gripper and then vertically reciprocating;
A pressing device located at an upper end of the pallet and interlocking with the position of the gripper to feed the ribbon rubber in a direction of the pallet while pressing the ribbon rubber; And
And a control device for controlling the operation of the pressure device based on the position of the gripper,
The pressure device comprises:
A support part in the form of a rectangular frame which is coupled with a vertical guide formed on the base and is vertically conveyed by the operation of the linear actuator of the vertical guide;
And a pressing portion positioned at each side of the support portion,
The control device controls the ribbon rubber to be pressed in a pressed state when the gripper is moved to the left and right, and is opened when the gripper is positioned at the upper end of the left and right pressing parts In addition,
When the gripper is vertically conveyed, the pressing portions located on the right and left sides are opened, and the pressing portions located on the upper and lower sides press the ribbon rubber in a pressurized state so that the ribbon rubber is opened when the gripper is positioned at the upper end of each of the upper and lower pressing portions Features a ribbon rubber loading device.
The control apparatus according to claim 2, wherein the pressing portion includes a pressing plate hinged to the supporting portion and a pressing actuator for driving the pressing plate, wherein the control device controls the pressing device to move the pressing device in the upward direction of the pallet The ribbon rubber loading device controls the ribbon rubber loading device.
The gripper according to claim 3, wherein the gripper comprises a plurality of jaws, a jaw actuator for controlling the opening and closing of the jaws, and a plurality of driving rollers located on the jaw inner surface, the ribbon rubber being located on the jaw inner surface, And is discharged from the grip by rotation of the drive roller.
The ribbon rubber loading apparatus according to claim 4, further comprising a cutting device for cutting the ribbon rubber discharged through the discharge device.







KR1020150135951A 2015-09-24 2015-09-24 Ribbon rubber loading device KR101740287B1 (en)

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Application Number Priority Date Filing Date Title
KR1020150135951A KR101740287B1 (en) 2015-09-24 2015-09-24 Ribbon rubber loading device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150135951A KR101740287B1 (en) 2015-09-24 2015-09-24 Ribbon rubber loading device

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KR20170036581A KR20170036581A (en) 2017-04-03
KR101740287B1 true KR101740287B1 (en) 2017-05-26

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019035513A1 (en) * 2017-08-16 2019-02-21 조남식 Multi-purpose automatic holder using arduino
KR102321719B1 (en) * 2020-12-30 2021-11-04 서울화인테크 주식회사 Automatic mixing rubber ribbon loading device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019035513A1 (en) * 2017-08-16 2019-02-21 조남식 Multi-purpose automatic holder using arduino
KR102321719B1 (en) * 2020-12-30 2021-11-04 서울화인테크 주식회사 Automatic mixing rubber ribbon loading device

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KR20170036581A (en) 2017-04-03

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