WO2021135905A1 - 手套脱模机构、手套点数机及手套脱模方法 - Google Patents

手套脱模机构、手套点数机及手套脱模方法 Download PDF

Info

Publication number
WO2021135905A1
WO2021135905A1 PCT/CN2020/136100 CN2020136100W WO2021135905A1 WO 2021135905 A1 WO2021135905 A1 WO 2021135905A1 CN 2020136100 W CN2020136100 W CN 2020136100W WO 2021135905 A1 WO2021135905 A1 WO 2021135905A1
Authority
WO
WIPO (PCT)
Prior art keywords
glove
demolding
demolding unit
component
power assembly
Prior art date
Application number
PCT/CN2020/136100
Other languages
English (en)
French (fr)
Inventor
李泽伟
Original Assignee
青岛萨沃特机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201922495830.7U external-priority patent/CN211662480U/zh
Priority claimed from CN201922490210.4U external-priority patent/CN212498599U/zh
Priority claimed from CN201911417322.5A external-priority patent/CN113119374A/zh
Application filed by 青岛萨沃特机器人有限公司 filed Critical 青岛萨沃特机器人有限公司
Publication of WO2021135905A1 publication Critical patent/WO2021135905A1/zh
Priority to US17/401,220 priority Critical patent/US20210370555A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C41/00—Shaping by coating a mould, core or other substrate, i.e. by depositing material and stripping-off the shaped article; Apparatus therefor
    • B29C41/02—Shaping by coating a mould, core or other substrate, i.e. by depositing material and stripping-off the shaped article; Apparatus therefor for making articles of definite length, i.e. discrete articles
    • B29C41/14—Dipping a core
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C41/00—Shaping by coating a mould, core or other substrate, i.e. by depositing material and stripping-off the shaped article; Apparatus therefor
    • B29C41/02—Shaping by coating a mould, core or other substrate, i.e. by depositing material and stripping-off the shaped article; Apparatus therefor for making articles of definite length, i.e. discrete articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C41/00—Shaping by coating a mould, core or other substrate, i.e. by depositing material and stripping-off the shaped article; Apparatus therefor
    • B29C41/34—Component parts, details or accessories; Auxiliary operations
    • B29C41/42—Removing articles from moulds, cores or other substrates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
    • B29L2031/00—Other particular articles
    • B29L2031/48—Wearing apparel
    • B29L2031/4842—Outerwear
    • B29L2031/4864—Gloves

Definitions

  • This application relates to the technical field of glove automated production equipment, and in particular to a glove demolding mechanism, a glove counting machine and a glove demolding method.
  • the existing glove demolding mechanism uses two relatively movable rollers when the glove reaches the designated position. Close to each other until the gloves are clamped, and use the pressure between the two rollers to fix the gloves so that the gloves no longer move with the hand mold, so that the gloves and the hand mold are completely separated.
  • the time for the roller to clamp different gloves is the same, and the position where the gloves are clamped is inconsistent. Therefore, the gloves taken off when taking off the gloves using this technology are very messy, and the glove packaging requires a lot of energy to organize the gloves. Waste time and manpower.
  • this application provides a glove demolding mechanism, a glove counting machine, and a glove demolding method.
  • a glove demolding mechanism includes a glove demolding unit, a first sensing device, and a vertical power assembly.
  • the glove demolding unit is fixed on the vertical power assembly, and the vertical power assembly can drive the gloves
  • the demolding unit moves in the vertical direction
  • the first sensing device is arranged at a position at a set distance from the rear end of the glove demolding unit; when the glove runs to the sensing area of the first sensing device, the first sensing device
  • the device can sense the height H of the bottom end of the glove; the glove demolding unit can be driven by the vertical power assembly to move upward to the height H position to grip the glove, and can be driven downward by the vertical power assembly Move down to remove the gloves from the hand mold.
  • the glove demolding unit includes a first driving part and two clamping jaws, the two clamping jaws are respectively fixed on the left and right sides of the first driving part, and the first driving The component can drive the two clamping jaws to open and close.
  • the glove demolding mechanism further includes:
  • a horizontal power component is connected to the vertical power component
  • the second sensing device is arranged at a proper position at the rear end of the glove demolding unit, and includes a counting sensing component for counting hand molds that move to its sensing range.
  • the horizontal power assembly drives the glove demolding unit to move forward synchronously with the hand mold.
  • the vertical power assembly drives the glove demolding unit to move upward;
  • the first driving component drives the clamping jaws to clamp to clamp the gloves
  • the horizontal power assembly decelerates and stops moving, and at the same time, the vertical power assembly drives the glove demolding unit to move downwards, so that the glove is separated from the hand mold .
  • the glove demolding unit further includes a second driving part connected to the first driving part, and the second driving part can drive the first driving part to rotate ;
  • the horizontal power assembly drives the glove demolding unit to move backwards
  • the second drive member drives the first drive member to rotate downward to drive
  • the clamping jaw rotates downwards so that the glove on the clamping jaw is located at the front end of the glove demoulding unit.
  • a glove temporary storage mechanism is further included, and the glove temporary storage mechanism is arranged at a suitable position under the glove demolding unit for storing the gloves detached from the hand mold;
  • the horizontal power assembly drives the glove demolding unit to move backwards
  • the second drive member drives the first drive member to rotate downward to drive
  • the gripping jaws rotate downwards so that the gloves on the gripping jaws are located at the front end of the glove demolding unit, and then the horizontal power assembly drives the glove demolding unit to continue moving backwards, and the gloves are dragged backwards , Until it completely enters the glove temporary storage mechanism, and then the first driving component drives the clamping jaws to open, thereby placing the gloves in the glove temporary storage mechanism.
  • the glove temporary storage mechanism includes a bottom plate driving part, a bottom plate, and a frame, the bottom plate driving part is fixed on the side of the frame, the bottom plate is fixed on the bottom plate driving part, and the bottom plate
  • the driving component drives the bottom plate to approach or move away from the frame, so as to realize the opening and closing of the bottom plate;
  • the bottom plate When the bottom plate is closed, the bottom plate and the frame are enclosed in a box-shaped container without a cover for temporarily storing the removed gloves. When the number of temporarily stored gloves reaches a set number, the bottom plate is opened and the gloves are removed from the container.
  • the glove temporary storage mechanism When the bottom plate is closed, the bottom plate and the frame are enclosed in a box-shaped container without a cover for temporarily storing the removed gloves.
  • the number of temporarily stored gloves reaches a set number, the bottom plate is opened and the gloves are removed from the container.
  • the glove temporary storage mechanism When the bottom plate is closed, the bottom plate and the frame are enclosed in a box-shaped container without a cover for temporarily storing the removed gloves.
  • the second sensing device further includes a speed sensing component for sensing the forward movement speed of the hand model in real time, and the information sensed by the speed sensing component is used to adjust the horizontal power The speed at which the component drives the glove demolding unit to move forward to ensure that the glove demolding unit and the hand mold move forward synchronously.
  • the present application also provides a glove counting machine, including the aforementioned glove demolding mechanism, and also including a sending mechanism;
  • the delivery mechanism includes a delivery assembly and a storage box arranged on the delivery assembly, the storage box is located below the glove temporary storage mechanism, and the number of the delivery assembly is the same as that of the glove temporary storage mechanism.
  • the sending out component can drive the storage box to make a linear reciprocating movement in a direction away from and close to the glove temporary storage mechanism.
  • the glove counting machine further includes a transfer mechanism, the transfer mechanism includes a horizontal movement assembly, a vertical movement assembly and a fetching claw, and the vertical movement assembly is arranged on the horizontal movement assembly.
  • the fetching claw is arranged on the vertical moving component, the horizontal moving component can drive the vertical moving component to make a linear reciprocating movement in the horizontal direction, and the vertical moving component can drive the fetching object The claw reciprocates linearly in the vertical direction.
  • the fetching claw is connected to the vertical moving assembly via a rotating component, and the rotating component can drive the fetching claw to rotate.
  • the transfer mechanism further includes a third driving part, the fetching claws are arranged on both sides of the third driving part, the third driving part is connected with the rotating part, and the The third driving component drives the opening and closing of the object-retrieving claw.
  • This application also provides a glove demolding method, which adopts the aforementioned glove demolding mechanism, and includes the following steps:
  • the horizontal power assembly drives the glove demolding unit to move forward synchronously with the hand mold
  • the vertical power assembly drives the glove demolding unit to move upward to the position of the lowermost height H of the glove, and the first driving component drives the clamping jaw to close to clamp the glove;
  • the horizontal power assembly decelerates and stops moving, and at the same time, the vertical power assembly drives the glove demolding unit to move downward to remove the glove from the hand mold. Pull down
  • the horizontal power assembly drives the glove demolding unit to move backwards
  • the second drive member drives the first drive member to rotate downward to drive the clamp Rotate the claw downwards so that the glove on the clamping claw is located at the front end of the glove demolding unit;
  • the horizontal power assembly drives the glove demolding unit to continue moving backwards, and the glove is dragged backwards until the glove completely enters the glove temporary storage mechanism, and then the first driving component drives the clamping jaws to open, thereby Place the gloves in the glove temporary storage mechanism.
  • the glove demolding unit can adjust the position according to the height of the bottom end of the glove sensed by the first sensing device, so that the position of the glove demolding mechanism that grips the glove each time remains adapted to the position of the glove, and the glove separated from the hand mold is more tidy, which is convenient for follow-up Sort and pack the demoulded gloves.
  • the horizontal power component can make the glove demolding unit and the hand mold move synchronously.
  • the demolding of multiple gloves can be realized, which improves the demolding process without affecting the travel speed of the hand mold and improves the demolding process. The efficiency of the process.
  • the second driving part drives the gripper to rotate, so that the relative position of the glove after demolding and the glove demolding unit is kept uniform, so that the way of stacking the gloves can be adjusted later.
  • the gloves can be stacked end to end in a staggered manner, or the gloves can be stacked end to end in a smooth manner. To stack.
  • the horizontal power assembly can drag the gloves to further stretch the gloves, so that the gloves entering the glove temporary storage mechanism are in a stretched state, and the gloves are more neat.
  • Fig. 1 is a schematic structural diagram of a glove demolding mechanism according to an embodiment of the present application
  • Fig. 2 is a schematic structural diagram of a glove demolding mechanism according to an embodiment of the present application
  • Fig. 3 is a partial enlarged schematic diagram of part A in Fig. 2;
  • Fig. 4 is a schematic structural diagram of a glove demolding mechanism according to an embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of a glove demolding mechanism according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a glove counting machine according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of the structure of a sending mechanism and a transfer mechanism according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a partial structure of a transfer mechanism according to an embodiment of the present application.
  • Horizontal movement Components 811, the third motor; 812, the third screw; 82, the vertical moving component; 821, the fourth motor; 822, the fourth screw; 83, the claw for taking objects; 831, the cross bar; 832, the gripping Section; 84, the rotating part; 85, the third drive part; 86, the pressure plate.
  • connection and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral Ground connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection should be understood in specific situations.
  • the hand molds covered with rubber gloves are generally placed vertically and arranged in groups.
  • One hand mold includes multiple hand molds.
  • the hand molds point vertically downward to facilitate downward demolding.
  • the following hand molds As the carrier of the glove to be demolded, the glove demolding mechanism provided in this application is described.
  • the end that moves the hand mold out of the glove ejection mechanism is defined as the front end, and the end that the hand mold enters the glove ejection mechanism is defined as the back end.
  • the glove demolding mechanism includes a glove demolding unit 1, a first sensing device 2 and a vertical power assembly 3.
  • the glove demolding unit 1 is fixed in the vertical On the power component 3, the vertical power component 3 can drive the glove demolding unit 1 to move in the vertical direction, and the first sensing device 2 is arranged at a position set at the rear end of the glove demolding unit 1; when the glove runs to the first sensing In the sensing area of the device 2, the first sensing device 2 can sense the height H of the bottom end of the glove; the glove demolding unit 1 can be driven by the vertical power assembly 3 to move up to the height H position to grip the glove, and The vertical power assembly 3 drives downwards to move the glove away from the hand mold.
  • the direction indicated by the arrow in the figure is the forward direction of the hand model.
  • the glove demolding unit 1 includes a first driving part 11 and two clamping jaws 12, the two clamping jaws 12 are respectively fixed on the left and right sides of the first driving part 11, the first driving part 11 can drive two Each clamping jaw 12 opens and closes, so as to realize the gripping and release of the glove.
  • the first driving member 11 is a jaw cylinder.
  • the two clamping jaws 12 are respectively a first clamping jaw 121 and a second clamping jaw 122.
  • the first clamping jaw 121 is provided with a convex structure on the side contacting the glove
  • the second clamping jaw 122 is provided with a convex structure on the side contacting the glove.
  • the concave structure is provided with a convex structure on the side contacting the glove.
  • the concave structure and the convex structure on the gripper cooperate to further secure the glove and prevent the glove from slipping out of the gripper.
  • the first clamping jaw 121 and the second clamping jaw 122 are provided with hollow structures to reduce the weight of the clamping jaws, so that the power required to drive the clamping jaws is smaller, the service life of the glove demolding unit 1 is longer, and the failure rate is reduced.
  • the position of the upward movement of the glove demolding unit 1 allows the gripper to clamp the lowermost part of the glove, and when the glove demolding unit 1 moves downwards, the glove can still be firmly clamped by the gripper. For example, the glove can be removed.
  • the mold unit 1 moves upward to the set position, so that the length of the lower end of the glove clamped by the jaws is 5-10 mm.
  • the glove demolding unit 1 further includes a second driving part 13, which is connected to the first driving part 11, and the second driving part 13 can drive the first driving part 11 to rotate and clamp the clamping jaw 12.
  • the second driving part 13 rotates, driving the first driving part 11 to rotate, thereby driving the gripper 12 to rotate, so that the glove is located on the side of the glove demolding unit 1, so that the glove can be smoothly separated from the gripper when the gripper 12 is loosened.
  • Claw 12 the second driving member 13 is a rotary cylinder, and the first driving member 1 is fixed to the rotating end of the rotary cylinder.
  • the rotation angle of the second driving member 13 is 180°.
  • the rotation angle of the second driving member 13 may also be other angles such as 190°, 150°, 120°, etc., depending on the actual release of the glove. The working conditions need to be set.
  • the glove demolding unit 1 is connected to the vertical power assembly 3, and the vertical power assembly 3 can drive the glove demolding unit 3 to move vertically.
  • the vertical power assembly 3 includes a first screw 31 and a first motor 32, and the first motor 32 is connected to the glove demolding unit 1 via the first screw 31.
  • the glove demolding unit 1 can be provided with multiple groups, the number of which corresponds to the number of the hand molds of the hand module, and the second driving parts 13 of the multiple sets of glove demolding units 1 are all the same as the first A lead screw 31 is connected, so that the gloves on multiple hand molds can be demolded at the same time.
  • multiple sets of glove demolding units 1 are arranged on a first mounting frame 33, and the first mounting frame 33 is connected to a first sliding block 34 sleeved on the first screw 31, and the first sliding block 34 It can move along the first lead screw 31 driven by the first motor 32.
  • the first sensing device 2 is set at a proper distance from the rear end of the glove demolding unit 1.
  • the first sensing device 2 can sense the height H of the lower end of the glove. When the glove demolding unit 1 moves up to the height H position, there are two grippers 12Close the gripping gloves.
  • the first sensing device 2 includes a photoelectric sensor 21 and a light guide plate 22.
  • the photoelectric sensor 21 and the light guide plate 22 are arranged oppositely.
  • the number of photoelectric sensors 21 and the number of light guide plates 22 are both No less than one.
  • the glove demolding mechanism further includes a horizontal power assembly 4, which is connected to the vertical power assembly 3.
  • the horizontal power assembly 4 includes a second screw 41 and a second motor 42, and the second motor 42 is connected to the vertical power assembly 3 via the second screw 41.
  • the vertical power assembly 3 is arranged on a second mounting frame 43, and the second mounting frame 43 is connected to a second slider 44 sleeved on the second screw 41, and the second slider 44 can move along the second lead screw 41 driven by the second motor 42.
  • the glove demolding mechanism further includes a second sensing device 5, which is arranged at a suitable position at the rear end of the glove demolding unit 1, and includes a counting sensing component 51 for Count the hand models that move to their sensing range.
  • the counting information sensed by the second sensing device 5 is used to adjust the movement state of the glove demolding unit 1 to realize the gripping or placing of the glove.
  • the glove demolding mechanism further includes a glove temporary storage mechanism 6, which is arranged at a suitable position under the glove demolding unit 1 for storing the gloves detached from the hand mold.
  • the hand mold runs to the sensing range of the counting sensing component 51.
  • the horizontal power assembly 4 drives the glove demolding unit 1 to move forward in synchronization with the hand mold.
  • the vertical power assembly 13 drives the glove demolding unit 1 to move upwards; when the glove demolding unit 1 moves upwards to the position of the hand mold height H sensed by the first sensing device 2, the first driving component 11 drives the clamping jaws 12 to clamp When the glove demolding unit 1 moves forward to the first position, the horizontal power assembly 4 decelerates and stops moving.
  • the vertical power assembly 3 drives the glove demolding unit 1 to move downwards, thereby removing the glove from the hand Pull up and down the mold to make the gloves separate from the hand mold. At this time, all the gloves remain in the state where the lower end is clamped, and the gloves are more tidy.
  • the glove demoulding unit moves forward to the first position, the clamping jaws have completely clamped the bottom of the glove. In actual application, set a proper first position according to the forward movement speed of the hand mold and the clamping speed of the clamping jaws.
  • the horizontal power assembly 4 drives the glove demolding unit 1 to move backwards
  • the second driving part 13 drives the first driving part 11 to rotate downward to drive the clamping jaw 12 downwards Rotate so that the glove on the gripper 12 is at the front end of the glove stripping unit 1, and then the horizontal power assembly 4 drives the glove stripping unit 1 to continue moving backwards, and the gloves are dragged backwards until the gloves completely enter the glove temporary storage mechanism 6
  • the first driving component 11 drives the clamping jaw 12 to open, thereby placing the glove in the glove temporary storage mechanism 6.
  • the first driving member 11 rotates downward from the front end of the glove demolding unit 1 so that the glove swings toward the front end, so that the glove on the gripper 12 is located at the front end of the glove demolding unit 1. Since the glove has a process of dragging the glove backward when entering the glove temporary storage mechanism 6, the shape of the glove is adjusted during the dragging process, so that the glove is in a stretched state when placed, so the last stacked gloves are compared neat. When the glove demolding unit moves down to the second position, the glove is completely separated from the hand mold. In actual application, set a suitable second position according to the specifications of the glove and the hand mold.
  • the hand module has multiple hand molds.
  • the counting sensing component 51 sets the number of hand molds to be the same as the number of glove demolding unit 1.
  • the counting sensing component 51 senses the last hand mold of the hand module after a period of time.
  • Horizontal power assembly 4 The glove demolding unit 1 is driven to move forward synchronously with the hand mold, so that the glove demolding unit is aligned with the hand mold.
  • the interval time is set according to the distance between the counting sensing component 51 and the rearmost glove demolding unit 1 and the forward speed of the hand mold, and is generally 1 s to 3 s.
  • the hand module in Figure 5 includes 10 hand molds.
  • the tenth hand mold passes through the counting sensing part 51, after 1.5 seconds, the tenth hand mold is aligned with the tenth glove demolding unit 1, and the horizontal power is The component 4 drives the glove demolding unit 1 to move forward synchronously with the hand mold.
  • the glove temporary storage mechanism 6 includes a bottom plate driving part 61, a bottom plate 62 and a frame 63.
  • the bottom plate driving part 61 is fixed on the side of the frame 63
  • the bottom plate 62 is fixed on the bottom plate driving part 61
  • the bottom plate driving part 61 drives the bottom plate 62. Close to or away from the frame 63, so as to realize the opening and closing of the bottom plate 62.
  • the bottom plate 62 is closed, the bottom plate 62 and the frame 63 are enclosed in an uncovered box-shaped container for temporarily storing the removed gloves.
  • the bottom plate 62 opens and the gloves are separated from the glove temporary storage mechanism 6. Proceed to the next step.
  • the bottom plate driving component 61 drives the bottom plate 62 to close, and continues to provide a glove placement space for the continuously operating glove demolding unit 1.
  • the glove temporary storage mechanism 6 is fixed on the frame 64, and the frame 64 is in contact with the ground and is used to support the glove temporary storage mechanism 6.
  • the frame 63 is fixed on the frame 64, and the bottom plate driving part 61 is fixed on the frame 64 so as to be positioned on the side of the frame 63.
  • the glove demolding unit 1 is also fixed with a counting sensing component 51.
  • the counting sensing component 51 is connected with the bottom plate driving component 61 to calculate the number of gloves demolded by the corresponding glove demolding unit 1.
  • the bottom plate driving component 61 drives the bottom plate 62 to open, so that the number of gloves output by the glove temporary storage mechanism 6 is kept at a constant value. Since the number of gloves in the glove temporary storage mechanism reaches the set value, the bottom plate 62 will be opened, which ensures the number of gloves.
  • the bottom plate driving member 61 is a clamping jaw cylinder
  • the bottom plate 62 is fixed on the clamping jaw on the side of the clamping jaw cylinder close to the frame 63.
  • the number of glove temporary storage mechanisms 6 is half of the glove demolding unit 1, that is, two glove demolding units 1 are one glove temporary storage mechanism 6 to transport gloves.
  • the glove demolding unit 1 drags the gloves into the glove temporary storage mechanism 6, every two glove demolding units 1 share a glove temporary storage mechanism 6, and the glove demolding unit at the rear end is in the process of dragging the gloves backwards
  • the gloves on 1 enter the glove temporary storage mechanism 6 first, and after the gloves on the front-end glove demolding unit 1 enter the glove temporary storage mechanism 6, two gloves can enter the glove temporary storage mechanism 6 at a time to improve efficiency.
  • the number of gloves output by the glove temporary storage mechanism 6 can be set to 25 each time, and each glove temporary storage mechanism 6 is fed by two glove demolding units 1. Then, when the glove demolding unit 1 near the rear end is completed When the thirteenth glove is demolded, the number of gloves in the glove temporary storage mechanism 6 is 25, and the glove demolding unit 1 near the front has not dragged the gloves into the glove temporary storage mechanism 6.
  • the bottom plate drive component 61 drives the bottom plate 62 to open, and the glove temporary storage mechanism 6 outputs 25 gloves at a time. After the 25 gloves are output, the bottom plate driving part 61 drives the bottom plate 62 to close, and continues to store the gloves.
  • the second sensing device 5 also includes a speed sensing component 52 for real-time sensing of the forward movement speed of the hand model, and the information sensed by the speed sensing component 52 is used to adjust the driving of the horizontal power assembly 4
  • the forward movement speed of the glove demolding unit 1 ensures that the glove demolding unit 1 and the hand mold move forward synchronously, so that the glove demolding unit 1 and the corresponding hand mold are kept relatively static, which facilitates the gripping of the gloves on the hand mold.
  • the present application also provides a glove counting machine, including the aforementioned glove demolding mechanism, and further includes a sending out mechanism 7;
  • the sending out mechanism 7 includes a sending out assembly 71 and a storage box arranged on the sending out assembly 71 72.
  • the storage box 72 is located under the glove temporary storage mechanism 6.
  • the number of delivery components 71 is the same as that of the glove temporary storage mechanism 6.
  • the delivery assembly 71 can drive the storage box 72 to reciprocate linearly in a direction away from and close to the glove temporary storage mechanism 6 movement.
  • the delivery assembly 71 includes an air cylinder 711, a delivery rail 712, and a third slider 713.
  • the storage box 72 is arranged on the third slider 713.
  • the telescopic end of the air cylinder 711 is connected to the third slider 713, and the storage box 72 is driven by the air cylinder 711 to reciprocate along the delivery track 712, thereby sending the gloves in the storage box 72 to a designated position for the transfer mechanism to grab.
  • a telescopic protective cover can be installed outside the delivery rail to prevent the falling objects from obstructing the movement of the third slider along the delivery rail, causing the entire glove counting machine to malfunction.
  • the glove counting machine also includes a transfer mechanism 8.
  • the transfer mechanism 8 includes a horizontal moving assembly 81, a vertical moving assembly 82, and a fetching claw 83.
  • the vertical moving assembly 82 is arranged on the horizontal moving assembly 81.
  • the fetching claw 83 is arranged on the vertical moving component 82, the horizontal moving component 81 can drive the vertical moving component 82 to make a linear reciprocating movement in the horizontal direction, and the vertical moving component 82 can drive the fetching claw 83 to make a straight line in the vertical direction. Reciprocating motion.
  • the horizontal moving assembly 81 includes a third motor 811 and a third screw 812.
  • the third motor 811 is connected to the vertical moving assembly 82 via the third screw 812, and the third motor 811 can drive The vertical moving assembly 82 reciprocates linearly along the third screw 812.
  • the vertical moving assembly 82 includes a fourth motor 821 and a fourth screw 822.
  • the fourth motor 821 is connected to the retrieval claw 83 via the fourth screw 822, and the fourth motor 821 drives the retrieval claw 83 along the first
  • the four lead screw 812 reciprocates in a straight line.
  • the fetching claw 83 is connected to the vertical moving assembly 82 via a rotating part 84, and the rotating part 84 can drive the fetching claw 83 to rotate at an angle of 180°.
  • the rotating component 84 may be a rotating air cylinder, the rotating end of the rotating air cylinder is provided with a fetching claw 83, and the fixed end of the rotating air cylinder is provided on the vertical moving assembly 82.
  • the transfer mechanism 8 further includes a third driving part 85.
  • the fetching claws 83 are arranged on both sides of the third driving part 85.
  • the third driving part 85 is connected with the rotating part 84.
  • the third driving part 85 drives the fetching part.
  • the lower part of the third driving part is provided with a pressing plate 86 to facilitate the compaction of the material before the material is clamped, and to facilitate the clamping of the material by the claw.
  • the fetching claw 83 includes a cross bar 831 and a plurality of gripping parts 832 arranged on the cross bar 831.
  • the gripping parts are arranged in a U shape to realize effective and stable gripping of materials.
  • the cross bar 831 of the fetching pawl is connected to the third driving part 85, and the cross bar 831 is driven by the third driving part 85 to move, thereby driving the clamping part 832 to open and close.
  • the present application also provides a glove demolding method, which adopts the demolding mechanism described above, and specifically includes the following steps:
  • the horizontal power assembly drives the glove demolding unit to move forward synchronously with the hand mold
  • the vertical power assembly drives the glove demolding unit to move upward to the position of the lowermost height H of the glove, and the first driving component drives the clamping jaw to close to clamp the glove;
  • the horizontal power assembly decelerates and stops moving, and at the same time, the vertical power assembly drives the glove demolding unit to move downward to remove the glove from the hand mold. Pull down
  • the horizontal power assembly drives the glove demolding unit to move backwards
  • the second drive member drives the first drive member to rotate downward to drive the clamp Rotate the claw downwards so that the glove on the clamping claw is located at the front end of the glove demolding unit;
  • the horizontal power assembly drives the glove demolding unit to continue moving backwards, and the glove is dragged backwards until the glove completely enters the glove temporary storage mechanism, and then the first driving component drives the clamping jaws to open, thereby Place the gloves in the glove temporary storage mechanism.
  • the glove demoulding unit moves forward to the first position, the clamping jaws have completely clamped the bottom of the glove.
  • set a proper first position according to the forward movement speed of the hand mold and the clamping speed of the clamping jaws.
  • the glove demolding unit moves down to the second position, the glove is completely separated from the hand mold.
  • set a suitable second position according to the specifications of the glove and the hand mold.
  • the bottom plate of the glove temporary storage mechanism is opened, so that a certain amount of gloves in the glove temporary storage mechanism enter the next process, such as a packaging process.

Abstract

一种手套脱模机构包括手套脱模单元（1）、第一感应装置（2）和竖向动力组件（3），手套脱模单元（1）固定在竖向动力组件（3）上，竖向动力组件（3）可驱动手套脱模单元（1）沿竖向运动，第一感应装置（2）设置在手套脱模单元（1）后端设定距离的位置，手套脱模单元（1）可在竖向动力组件（3）驱动下向上运动到手套最下端合适位置以夹取手套。该手套脱模机构脱离手模上的手套时，能使手套更加整齐。该手套脱模机构可以用于手套点数机并形成一种手套脱模方法。

Description

手套脱模机构、手套点数机及手套脱模方法
本申请要求在2019年12月31日提交中国专利局、申请号为201922490210.4、发明名称为“手套点数机”；申请号为201911417322.5、发明名称为“手套点数机”；申请号为201922495830.7、发明名称为“手套脱模装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及手套自动化生产设备技术领域，特别是涉及一种手套脱模机构、手套点数机及手套脱模方法。
背景技术
在手套自动化生产线上，有一步很重要的操作是将手套从手模上摘取实现手套完全与手模分离，现有的手套脱模机构多用两个可以相对运动的辊在手套到达指定位置时相互靠近直至夹住手套，利用两个辊之间的压力固定住手套使手套不再随手模运动，实现手套与手模完全脱离。辊夹住不同手套的时间是一样的，手套被夹取的位置是不一致的，所以利用这种技术摘取手套时摘取下来的手套非常乱，手套包装需要耗费大量的精力进行手套的整理，浪费时间和人力。
发明内容
针对现有技术存在的问题，本申请提供一种手套脱模机构、手套点数机及手套脱模方法。
本申请提供的技术方案如下：
一种手套脱模机构，包括手套脱模单元、第一感应装置和竖向动力组件，所述手套脱模单元固定在所述竖向动力组件上，所述竖向动力组件可驱动所述手套脱模单元沿竖向运动，所述第一感应装置设置在所述手套脱模单元后端设定距离的位置；当手套运行至所述第一感应装置的感应区域时，所述第一感应装置可感应到手套最下端的高度H；所述手套脱模单元可在所述竖向动力组件驱动下向上运动到高度H位置以夹取手套，并可在所述竖向动力组件驱动下向下运动以使手套脱离手模。
在本申请一些实施例中，所述手套脱模单元包括第一驱动部件和两个夹爪，两个所述夹爪分别固定在所述第一驱动部件的左右两侧，所述第一驱动 部件可驱动两个所述夹爪开合。
在本申请一些实施例中，所述的手套脱模机构还包括：
水平动力组件，所述水平动力组件与所述竖向动力组件连接；
第二感应装置，所述第二感应装置设置在所述手套脱模单元后端合适的位置，包括计数感应部件，用于给运动至其感应范围的手模计数。
在本申请一些实施例中，当所述计数感应部件感应到设定手模数的最后一个手模经过时，所述水平动力组件驱动所述手套脱模单元与手模同步向前运动，所述竖向动力组件驱动所述手套脱模单元向上运动；
当所述手套脱模单元向上运动到所述第一感应装置所感应到的手模高度H位置时，所述第一驱动部件驱动所述夹爪夹合以夹取手套；
当所述手套脱模单元向前运动至第一位置时，所述水平动力组件减速停止运动，同时，所述竖向动力组件驱动所述手套脱模单元向下运动，以使手套脱离手模。
在本申请一些实施例中，所述手套脱模单元还包括第二驱动部件，所述第二驱动部件连接所述第一驱动部件，所述第二驱动部件可带动所述第一驱动部件旋转；
当所述手套脱模单元向下运动至第二位置时，所述水平动力组件驱动所述手套脱模单元向后运动，所述第二驱动部件驱动所述第一驱动部件向下旋转从而带动所述夹爪向下旋转，使所述夹爪上的手套位于所述手套脱模单元的前端。
在本申请一些实施例中，还包括手套暂存机构，所述手套暂存机构设置于所述手套脱模单元下方合适的位置，用于存放从手模上脱离的手套；
当所述手套脱模单元向下运动至第二位置时，所述水平动力组件驱动所述手套脱模单元向后运动，所述第二驱动部件驱动所述第一驱动部件向下旋转从而带动所述夹爪向下旋转，使所述夹爪上的手套位于所述手套脱模单元的前端，然后所述水平动力组件驱动所述手套脱模单元继续向后运动，手套被向后拖动，直至完全进入所述手套暂存机构内，然后所述第一驱动部件驱动所述夹爪张开，从而将手套放置在所述手套暂存机构内。
在本申请一些实施例中，所述手套暂存机构包括底板驱动部件、底板和框架，所述底板驱动部件固定在所述框架侧面，所述底板固定在所述底板驱动部件上，所述底板驱动部件驱动所述底板靠近或远离所述框架，从而实现所述底板的开合；
所述底板闭合时所述底板和所述框架围设成无盖盒状的容器，以供暂存被摘取的手套，暂存手套到达设定的数目时，所述底板打开，手套脱离所述手套暂存机构。
在本申请一些实施例中，所述第二感应装置还包括速度感应部件，用于实时感应手模向前运动的速度，所述速度感应部件所感应到的信息被用于调整所述水平动力组件驱动所述手套脱模单元向前运动的速度，确保所述手套脱模单元与手模同步向前运动。
本申请还提供一种手套点数机，包括前文所述的手套脱模机构，还包括送出机构；
所述送出机构包括送出组件和设置在所述送出组件上的储物盒，所述储物盒位于所述手套暂存机构下方，所述送出组件的数量与所述手套暂存机构一致，所述送出组件可驱动储物盒沿远离、靠近所述手套暂存机构的方向作直线往复运动。
在本申请一些实施例中，所述的手套点数机还包括转运机构，所述转运机构包括水平移动组件、竖向移动组件和取物爪，所述竖向移动组件设置在所述水平移动组件上，所述取物爪设置在所述竖向移动组件上，所述水平移动组件可驱动所述竖向移动组件沿水平方向做直线往复运动，所述竖向移动组件可驱动所述取物爪沿竖直方向作直线往复运动。
在本申请一些实施例中，所述取物爪经旋转部件与所述竖向移动组件连接，所述旋转部件可驱动所述取物爪旋转。
在本申请一些实施例中，所述转运机构还包括第三驱动部件，所述取物爪设置在所述第三驱动部件两侧，所述第三驱动部件与所述旋转部件连接，所述第三驱动部件驱动所述取物爪的张开与闭合。
本申请还提供一种手套脱模方法，采用前文所述的手套脱模机构，包括如下步骤：
水平动力组件驱动手套脱模单元与手模同步向前移动；
竖向动力组件驱动所述手套脱模单元向上运动至手套最下端高度H位置，第一驱动部件驱动夹爪闭合以夹取手套；
所述手套脱模单元向前运动至第一位置时，所述水平动力组件减速停止运动，同时，所述竖向动力组件驱动所述手套脱模单元向下运动，以将手套从手模上拽下；
所述手套脱模单元向下运动至第二位置时，所述水平动力组件驱动所述 手套脱模单元向后运动，第二驱动部件驱动所述第一驱动部件向下旋转从而带动所述夹爪向下旋转，使得所述夹爪上的手套位于所述手套脱模单元的前端；
所述水平动力组件驱动所述手套脱模单元继续向后运动，手套被向后拖动，直至手套完全进入手套暂存机构内，然后所述第一驱动部件驱动所述夹爪张开，从而将手套放置在所述手套暂存机构内。
与现有技术相比，本申请的有益效果为：
手套脱模单元可根据第一感应装置所感应到的手套最下端高度调整位置，使得手套脱模机构每次夹取手套的位置保持与手套位置相适应，脱离手模的手套更加整齐，方便后续对脱模的手套进行整理包装。
水平动力组件可使得手套脱模单元与手模同步运动，在手模行进过程中，可实现多手套的脱模，提高了在完成脱模的同时，不影响手模行进速度，提高了脱模工序的效率。
通过第二驱动部件驱动夹爪旋转，使得脱模之后的手套与手套脱模单元的相对位置保持统一，以便后续对手套的叠放方式进行调整，例如手套可以首尾交错叠放，或者手套首尾顺向叠放。
设置手套暂存机构，脱模之后的手套进入手套暂存机构之前，水平动力组件可拖动手套，以使手套进一步伸展开，从而进入手套暂存机构中的手套处于舒展开的状态，手套更加整齐。
附图说明
图1是本申请一种实施方式的手套脱模机构的结构示意图；
图2是本申请一种实施方式的手套脱模机构的结构示意图；
图3是图2中A部分的局部放大示意图；
图4是本申请一种实施方式的手套脱模机构的结构示意图；
图5是本申请一种实施方式的手套脱模机构的结构示意图；
图6是本申请一种实施方式的手套点数机的结构示意图；
图7是本申请一种实施方式的送出机构和转运机构的结构示意图；
图8是本申请一种实施方式的转运机构的部分结构示意图；
图中编号：1、手套脱模单元；11、第一驱动部件；12、夹爪；13、第二驱动部件；2、第一感应装置；21、光电传感器；22、导光板；3、竖向动力组件；31、第一丝杠；32、第一电机；33、第一安装架；34、第一滑块；4、 水平动力组件；41、第二丝杠；42、第二电机；43、第二安装架；44、第二滑块；5、第二感应装置；51、计数感应部件；52、速度感应部件；6、手套暂存机构；61、底板驱动部件；62、底板；63、框架；64、机架；7、送出机构；71、送出组件；711、气缸；712、送出轨道；713、第三滑块；72、储物盒；8、转运机构；81、水平移动组件；811、第三电机；812、第三丝杠；82、竖向移动组件；821、第四电机；822、第四丝杠；83、取物爪；831、横杆；832、夹取部；84、旋转部件；85、第三驱动部件；86、压板。
具体实施方式
以下结合具体实施方式对本申请的技术方案进行详实的阐述，然而应当理解，在没有进一步叙述的情况下，一个实施方式中的元件、结构和特征也可以有益地结合到其他实施方式中。
在本申请的描述中，需要理解的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。
在本申请的描述中，需要理解的是，术语“上”、“下”等指示的方位或位置关系为基于附图1所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
所述的实施方式仅仅是对本申请的优选实施方式进行描述，并非对本申请的范围进行限定，在不脱离本申请设计精神的前提下，本领域普通技术人员对本申请的技术方案作出的各种变形和改进，均应落入本申请权利要求书确定的保护范围内。
套有橡胶手套的手模一般竖直放置，并且成组设置，一个手模组包括多个手模，手模竖直指向下方，便于向下脱模，为了便于描述，下文中以此手模作为待脱模手套的载体来描述本申请提供的手套脱模机构。将手模移出手 套脱模机构的一端定义为前端，将手模进入手套脱模机构的一端定义为后端。
如图1和图2所示，为本申请一种实施方式提供的手套脱模机构，包括手套脱模单元1、第一感应装置2和竖向动力组件3，手套脱模单元1固定在竖向动力组件3上，竖向动力组件3可驱动手套脱模单元1沿竖向运动，第一感应装置2设置在手套脱模单元1后端设定距离的位置；当手套运行至第一感应装置2的感应区域时，第一感应装置2可感应到手套最下端的高度H；手套脱模单元1可在竖向动力组件3驱动下向上运动到高度H位置以夹取手套，并可在竖向动力组件3驱动下向下运动以使手套脱离手模。图中箭头所指方向为手模前进方向。
如图3所示，手套脱模单元1包括第一驱动部件11和两个夹爪12，两个夹爪12分别固定在第一驱动部件11的左右两侧，第一驱动部件11可驱动两个夹爪12开合，从而实现手套的夹取和释放。本实施方式中，第一驱动部件11为夹爪气缸。两个夹爪12分别为第一夹爪121和第二夹爪122，第一夹爪121与手套接触的一面设置有凸结构，第二夹爪122与手套接触的一面设置有与凸结构配合的凹结构。夹爪夹取手套时，夹爪上的凹结构和凸结构配合,可以将手套进一步卡牢，防止手套从夹爪中滑脱。第一夹爪121和第二夹爪122上设有镂空结构，以减轻夹爪重量，这样驱动夹爪所需的动力更小，手套脱模单元1使用寿命更长，故障率降低。手套脱模单元1向上运动的位置，使得夹爪能夹住手套最下端部分，并且在手套脱模单元1向下运动时，手套依然能被夹爪牢牢夹住即可，例如，手套脱模单元1向上运动至设定位置，使得夹爪夹住手套最下端长度为5-10mm。
如图3所示，手套脱模单元1还包括第二驱动部件13，第二驱动部件13连接第一驱动部件11，第二驱动部件13可带动第一驱动部件11旋转，在夹爪12夹住手套后，第二驱动部件13旋转，带动第一驱动部件11转动从而带动夹爪12转动，使手套位于手套脱模单元1的一侧，便于后续夹爪12松开时手套能顺利脱离夹爪12。本实施方式中，第二驱动部件13为旋转气缸，第一驱动部件1固定在旋转气缸的旋转端。本实施方式中，第二驱动部件13的旋转角度为180°，当然，第二驱动部件13的旋转角度也可以是190°、150°、120°等其他角度，具体可根据手套脱模的实际工况需要设置。
如图1和图2所示，手套脱模单元1与竖向动力组件3连接，竖向动力组件3可驱动手套脱模单元3竖向运动。本实施方式中，竖向动力组件3包括第一丝杠31和第一电机32，第一电机32经第一丝杠31连接手套脱模单 元1。具体地，如图1-3所示，手套脱模单元1可设置多组，其数量与手模组的手模数量相对应，多组手套脱模单元1的第二驱动部件13均与第一丝杠31连接，从而实现多个手模上的手套同时脱模。如图4所示，多组手套脱模单元1设置在第一安装架33上，第一安装架33与套设在第一丝杠31上的第一滑块34连接，第一滑块34可在第一电机32驱动下沿第一丝杠31移动。第一感应装置2设置在手套脱模单元1后端合适距离位置处，第一感应装置2可感应到手套最下端的高度H，手套脱模单元1向上运动到高度H位置时两个夹爪12闭合夹取手套。通过第一感应装置2感应到的手套最下端的高度信息控制手套脱模单元1夹取手套的位置从而保证每个手套被夹取的部位都是手套最下端的位置，脱模的手套更加整齐。如图1和图4所示，本实施方式中，第一感应装置2包括光电传感器21和导光板22，光电传感器21和导光板22相对设置，光电传感器21的数量和导光板22的数量均不少于一个。手套经过第一感应装置2时会遮挡导光板22的光线，进而改变光电传感器21所能感应的光强度，光电传感器21通过光强度的变化感应到手套最下端的高度H。
如图1-4所示，手套脱模机构还包括水平动力组件4，水平动力组件4与竖向动力组件3连接。水平动力组件4包括第二丝杠41和第二电机42，第二电机42经第二丝杠41与竖向动力组件3连接。具体的，如图4所示，竖向动力组件3设置在第二安装架43上，第二安装架43与套设在第二丝杠41上的第二滑块44连接，第二滑块44可在第二电机42驱动下沿第二丝杠41移动。如图1、图4和图5所示，手套脱模机构还包括第二感应装置5，第二感应装置5设置在手套脱模单元1后端合适的位置，包括计数感应部件51，用于给运动至其感应范围的手模计数。第二感应装置5感应到的计数信息被用于调整手套脱模单元1的运动状态实现手套夹取或放置。如图5所示，手套脱模机构还包括手套暂存机构6，手套暂存机构6设置于手套脱模单元1下方合适的位置，用于存放从手模上脱离的手套。
手模运行至计数感应部件51的感应范围，当计数感应部件51感应到设定手模数的最后一个手模经过时，水平动力组件4驱动手套脱模单元1与手模同步向前运动，竖向动力组件13驱动手套脱模单元1向上运动；当手套脱模单元1向上运动到第一感应装置2所感应到的手模高度H位置时，第一驱动部件11驱动夹爪12夹合以夹取手套；当手套脱模单元1向前运动至第一位置时，水平动力组件4减速停止运动，同时，竖向动力组件3驱动手套脱 模单元1向下运动，从而将手套从手模上拽下，使手套脱离手模，此时所有手套均保持最下端被夹取的状态，手套更整齐。手套脱模单元向前运动至第一位置时，夹爪已完全夹住手套下方。实际应用时，根据手模向前运动的速度和夹爪的夹合速度设置合适的第一位置。
当手套脱模单元1向下运动至第二位置时，水平动力组件4驱动手套脱模单元1向后运动，第二驱动部件13驱动第一驱动部件11向下旋转从而带动夹爪12向下旋转，使夹爪12上的手套位于手套脱模单元1的前端，然后水平动力组件4驱动手套脱模单元1继续向后运动，手套被向后拖动，直至手套完全进入手套暂存机构6内，然后第一驱动部件11驱动夹爪12张开，从而将手套放置在手套暂存机构6内。第一驱动部件11从手套脱模单元1的前端向下旋转，使得手套向前端摆动，从而使夹爪12上的手套位于手套脱模单元1的前端。由于手套在进入手套暂存机构6时有一个向后拖动手套的过程，拖动过程中实现了手套形态调整，使手套在被放置时都处于伸展开的状态，所以最后叠放的手套比较整齐。当手套脱模单元向下运动至第二位置时，手套完全从手模上脱离。实际应用时，根据手套和手模的规格设置合适的第二位置。
手模组有多个手模，计数感应部件51设定手模数与手套脱模单元1个数相同，计数感应部件51感应到手模组的最后一个手模之后间隔一段时间，水平动力组件4驱动手套脱模单元1与手模同步向前运动，以供手套脱模单元与手模对齐。间隔的时间根据计数感应部件51与最后端手套脱模单元1间距以及手模前进速度设定，一般为1s～3s。例如，图5中手模组包括10个手模，当第十个手模经过计数感应部件51时，再经过1.5s，第十个手模与第十个手套脱模单元1对齐，水平动力组件4驱动手套脱模单元1与手模同步向前运动。
如图5所示，手套暂存机构6包括底板驱动部件61、底板62和框架63，底板驱动部件61固定在框架63侧面，底板62固定在底板驱动部件61上，底板驱动部件61驱动底板62靠近或远离框架63，从而实现底板62的开合。底板62闭合时，底板62和框架63围设成无盖盒状的容器，以供暂存被摘取的手套，暂存手套到达设定的数目时，底板62打开，手套脱离手套暂存机构6，进行下一步处理。手套暂存机构6将手套输出后，底板驱动部件61驱动底板62闭合，继续为连续作业的手套脱模单元1提供手套放置空间。
如图5所示，手套暂存机构6固定在机架64上，机架64与地面接触， 用于支撑手套暂存机构6。框架63固定在机架64上，底板驱动部件61固定在机架64上，从而定位在框架63的侧面。手套脱模单元1上也固定有计数感应部件51，计数感应部件51与底板驱动部件61连接，用于计算对应的手套脱模单元1完成脱模的手套数量，当完成脱模的手套数量达到设定值时，底板驱动部件61驱动底板62打开，使手套暂存机构6输出的手套数量保持为定值。由于手套暂存机构内的手套数目达到设定值时底板62才会打开，保证了手套的数目。
如图5所示，底板驱动部件61为两个，底板62为两块，两个底板驱动部件61相对设置在框架63两侧，两块底板62分别固定在两个底板驱动部件61上。本实施方式中，底板驱动部件61为夹爪气缸，底板62固定在夹爪气缸靠近框架63一侧的夹爪上。
如图5所示，本实施方式中，手套暂存机构6的数量为手套脱模单元1的一半，即，两个手套脱模单元1为一个手套暂存机构6输送手套。在手套脱模单元1将手套拖入手套暂存机构6时，每两个手套脱模单元1共用一个手套暂存机构6，在手套被向后拖动的过程中在后端的手套脱模单元1上的手套先进入手套暂存机构6内，在前端的手套脱模单元1上的手套后进入手套暂存机构6内，一次实现两个手套进入手套暂存机构6内提高了效率。例如，可以设定手套暂存机构6每次输出的手套数量为25个，每个手套暂存机构6由两个手套脱模单元1供料，则，当靠近后端的手套脱模单元1完成第13个手套的脱模时，手套暂存机构6中已有的手套数目是25个，靠近前端的手套脱模单元1还未将手套拖入手套暂存机构6，此时，底板驱动部件61驱动底板62打开，手套暂存机构6一次性输出25个手套，25个手套输出之后底板驱动部件61驱动底板62关闭，继续存放手套。
如图4和图5所示，第二感应装置5还包括速度感应部件52，用于实时感应手模向前运动的速度，速度感应部件52感应到的信息被用于调整水平动力组件4驱动手套脱模单元1向前运动的速度，确保手套脱模单元1与手模同步向前运动，使得手套脱模单元1与对应手模大致保持相对静止，利于手模上的手套被夹取。
如图6所示，本申请还提供一种手套点数机，包括前文所述的手套脱模机构，还包括送出机构7；送出机构7包括送出组件71和设置在送出组件71上的储物盒72，储物盒72位于手套暂存机构6下方，送出组件71的数量与手套暂存机构6一致，送出组件71可驱动储物盒72沿远离、靠近手套暂存 机构6的方向作直线往复运动。本实施方式中，送出组件71包括气缸711，送出轨道712和第三滑块713，储物盒72设置在第三滑块713上，气缸711的伸缩端连接第三滑块713，储物盒72在气缸711驱动下沿送出轨道712往复运动，从而将储物盒72中的手套送到指定位置供转运机构抓取。送出轨道外部可安装伸缩保护套，以防止掉落的物品阻碍第三滑块沿送出轨道的运动，造成整个手套点数机故障。
如图6和图7所示，手套点数机还包括转运机构8，转运机构8包括水平移动组件81、竖向移动组件82和取物爪83，竖向移动组件82设置在水平移动组件81上，取物爪83设置在竖向移动组件82上，水平移动组件81可驱动竖向移动组件82沿水平方向做直线往复运动，竖向移动组件82可驱动取物爪83沿竖直方向作直线往复运动。
如图7所示，本实施方式中，水平移动组件81包括第三电机811和第三丝杠812，第三电机811经第三丝杠812连接竖向移动组件82，第三电机811可驱动竖向移动组件82沿着第三丝杠812作直线往复运动。本实施方式中，竖向移动组件82包括第四电机821和第四丝杠822，第四电机821经第四丝杠822连接取物爪83，第四电机821驱动取物爪83沿着第四丝杠812作直线往复运动。作为一种优选实施方式，取物爪83经旋转部件84与竖向移动组件82连接，旋转部件84可驱动取物爪83旋转，旋转角度为180°。旋转部件84可以为旋转气缸，旋转气缸的旋转端上设置取物爪83，旋转气缸的固定端设置在竖向移动组件82上。
如图8所示，转运机构8还包括第三驱动部件85，取物爪83设置在第三驱动部件85两侧，第三驱动部件85与旋转部件84连接，第三驱动部件85驱动取物爪83的张开与闭合。如图所示，第三驱动部件下部设置有压板86，方便在夹取物料前将物料压实，便于取物爪夹取。取物爪83包括横杆831和设置在横杆831上的若干个夹取部832，夹取部设置为U型，对物料实现有效稳固抓取。取物爪的横杆831与第三驱动部件85连接，横杆831在第三驱动部件85的驱动下运动，从而带动夹取部832张开和闭合。
本申请还提供一种手套脱模方法，采用上述脱模机构，具体包括如下步骤：
水平动力组件驱动手套脱模单元与手模同步向前移动；
竖向动力组件驱动所述手套脱模单元向上运动至手套最下端高度H位置，第一驱动部件驱动夹爪闭合以夹取手套；
所述手套脱模单元向前运动至第一位置时，所述水平动力组件减速停止运动，同时，所述竖向动力组件驱动所述手套脱模单元向下运动，以将手套从手模上拽下；
所述手套脱模单元向下运动至第二位置时，所述水平动力组件驱动所述手套脱模单元向后运动，第二驱动部件驱动所述第一驱动部件向下旋转从而带动所述夹爪向下旋转，使得所述夹爪上的手套位于所述手套脱模单元的前端；
所述水平动力组件驱动所述手套脱模单元继续向后运动，手套被向后拖动，直至手套完全进入手套暂存机构内，然后所述第一驱动部件驱动所述夹爪张开，从而将手套放置在所述手套暂存机构内。手套脱模单元向前运动至第一位置时，夹爪已完全夹住手套下方。实际应用时，根据手模向前运动的速度和夹爪的夹合速度设置合适的第一位置。手套脱模单元向下运动至第二位置时，手套完全从手模上脱离。实际应用时，根据手套和手模的规格设置合适的第二位置。
手套暂存机构内手套数目达到设定值时，手套暂存机构的底板打开，以使得手套暂存机构内定量的手套进入下一道工序，例如包装工序。

Claims (13)

  1. 一种手套脱模机构，其特征在于，包括手套脱模单元、第一感应装置和竖向动力组件，所述手套脱模单元固定在所述竖向动力组件上，所述竖向动力组件可驱动所述手套脱模单元沿竖向运动，所述第一感应装置设置在所述手套脱模单元后端设定距离的位置；当手套运行至所述第一感应装置的感应区域时，所述第一感应装置可感应到手套最下端的高度H；所述手套脱模单元可在所述竖向动力组件驱动下向上运动到高度H位置以夹取手套，并可在所述竖向动力组件驱动下向下运动以使手套脱离手模。
  2. 根据权利要求1所述的手套脱模机构，其特征在于，所述手套脱模单元包括第一驱动部件和两个夹爪，两个所述夹爪分别固定在所述第一驱动部件的左右两侧，所述第一驱动部件可驱动两个所述夹爪开合。
  3. 根据权利要求2所述的手套脱模机构，其特征在于，还包括：
    水平动力组件，所述水平动力组件与所述竖向动力组件连接；
    第二感应装置，所述第二感应装置设置在所述手套脱模单元后端合适的位置，包括计数感应部件，用于给运动至其感应范围的手模计数。
  4. 根据权利要求3所述的手套脱模机构，其特征在于，当所述计数感应部件感应到设定手模数的最后一个手模经过时，所述水平动力组件驱动所述手套脱模单元与手模同步向前运动，所述竖向动力组件驱动所述手套脱模单元向上运动；
    当所述手套脱模单元向上运动到所述第一感应装置所感应到的手模高度H位置时，所述第一驱动部件驱动所述夹爪夹合以夹取手套；
    当所述手套脱模单元向前运动至第一位置时，所述水平动力组件减速停止运动，同时，所述竖向动力组件驱动所述手套脱模单元向下运动，以使手套脱离手模。
  5. 根据权利要求4所述的手套脱模机构，其特征在于，所述手套脱模单元还包括第二驱动部件，所述第二驱动部件连接所述第一驱动部件，所述第二驱动部件可带动所述第一驱动部件旋转；
    当所述手套脱模单元向下运动至第二位置时，所述水平动力组件驱动所述手套脱模单元向后运动，所述第二驱动部件驱动所述第一驱动部件向下旋转从而带动所述夹爪向下旋转，使所述夹爪上的手套位于所述手套脱模单元的前端。
  6. 根据权利要求5所述的手套脱模机构，其特征在于，还包括手套暂存机构，所述手套暂存机构设置于所述手套脱模单元下方合适的位置，用于存放从手模上脱离的手套；
    当所述手套脱模单元向下运动至第二位置时，所述水平动力组件驱动所述手套脱模单元向后运动，所述第二驱动部件驱动所述第一驱动部件向下旋转从而带动所述夹爪向下旋转，使所述夹爪上的手套位于所述手套脱模单元的前端，然后所述水平动力组件驱动所述手套脱模单元继续向后运动，手套被向后拖动，直至完全进入所述手套暂存机构内，然后所述第一驱动部件驱动所述夹爪张开，从而将手套放置在所述手套暂存机构内。
  7. 根据权利要求6所述的手套脱模机构，其特征在于，所述手套暂存机构包括底板驱动部件、底板和框架，所述底板驱动部件固定在所述框架侧面，所述底板固定在所述底板驱动部件上，所述底板驱动部件驱动所述底板靠近或远离所述框架，从而实现所述底板的开合；
    所述底板闭合时所述底板和所述框架围设成无盖盒状的容器，以供暂存被摘取的手套，暂存手套到达设定的数目时，所述底板打开，手套脱离所述手套暂存机构。
  8. 根据权利要求3所述的手套脱模机构，其特征在于，所述第二感应装置还包括速度感应部件，用于实时感应手模向前运动的速度，所述速度感应部件所感应到的信息被用于调整所述水平动力组件驱动所述手套脱模单元向前运动的速度，确保所述手套脱模单元与手模同步向前运动。
  9. 一种手套点数机，其特征在于，包括如权利要求6-8任一项所述的手套脱模机构，还包括送出机构；
    所述送出机构包括送出组件和设置在所述送出组件上的储物盒，所述储物盒位于所述手套暂存机构下方，所述送出组件的数量与所述手套暂存机构一致，所述送出组件可驱动储物盒沿远离、靠近所述手套暂存机构的方向作直线往复运动。
  10. 根据权利要求9所述的手套点数机，其特征在于，还包括转运机构，所述转运机构包括水平移动组件、竖向移动组件和取物爪，所述竖向移动组件设置在所述水平移动组件上，所述取物爪设置在所述竖向移动组件上，所述水平移动组件可驱动所述竖向移动组件沿水平方向做直线往复运动，所述竖向移动组件可驱动所述取物爪沿竖直方向作直线往复运动。
  11. 根据权利要求10所述的手套点数机，其特征在于，所述取物爪经旋 转部件与所述竖向移动组件连接，所述旋转部件可驱动所述取物爪旋转。
  12. 根据权利要求11所述的手套点数机，其特征在于，所述转运机构还包括第三驱动部件，所述取物爪设置在所述第三驱动部件两侧，所述第三驱动部件与所述旋转部件连接，所述第三驱动部件驱动所述取物爪的张开与闭合。
  13. 一种手套脱模方法，采用如权利要求6所述的手套脱模机构，其特征在于，包括如下步骤：
    水平动力组件驱动手套脱模单元与手模同步向前移动；
    竖向动力组件驱动所述手套脱模单元向上运动至手套最下端高度H位置，第一驱动部件驱动夹爪闭合以夹取手套；
    所述手套脱模单元向前运动至第一位置时，所述水平动力组件减速停止运动，同时，所述竖向动力组件驱动所述手套脱模单元向下运动，以将手套从手模上拽下；
    所述手套脱模单元向下运动至第二位置时，所述水平动力组件驱动所述手套脱模单元向后运动，第二驱动部件驱动所述第一驱动部件向下旋转从而带动所述夹爪向下旋转，使得所述夹爪上的手套位于所述手套脱模单元的前端；
    所述水平动力组件驱动所述手套脱模单元继续向后运动，手套被向后拖动，直至手套完全进入手套暂存机构内，然后所述第一驱动部件驱动所述夹爪张开，从而将手套放置在所述手套暂存机构内。
PCT/CN2020/136100 2019-12-31 2020-12-14 手套脱模机构、手套点数机及手套脱模方法 WO2021135905A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/401,220 US20210370555A1 (en) 2019-12-31 2021-08-12 Glove demolding mechanism, glove counting machine and glove demolding method

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN201922490210.4 2019-12-31
CN201911417322.5 2019-12-31
CN201922495830.7U CN211662480U (zh) 2019-12-31 2019-12-31 手套脱模装置
CN201922495830.7 2019-12-31
CN201922490210.4U CN212498599U (zh) 2019-12-31 2019-12-31 手套点数机
CN201911417322.5A CN113119374A (zh) 2019-12-31 2019-12-31 手套点数机

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/401,220 Continuation US20210370555A1 (en) 2019-12-31 2021-08-12 Glove demolding mechanism, glove counting machine and glove demolding method

Publications (1)

Publication Number Publication Date
WO2021135905A1 true WO2021135905A1 (zh) 2021-07-08

Family

ID=76687038

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/136100 WO2021135905A1 (zh) 2019-12-31 2020-12-14 手套脱模机构、手套点数机及手套脱模方法

Country Status (2)

Country Link
US (1) US20210370555A1 (zh)
WO (1) WO2021135905A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114750347A (zh) * 2022-06-15 2022-07-15 石家庄启腾机械制造有限公司 一种胶性手套免吹气脱模机

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113951591B (zh) * 2021-12-11 2024-02-13 英科医疗科技股份有限公司 一种防止pvc手套漏脱模设备
CN114313415B (zh) * 2022-01-20 2023-05-12 青岛创誉精密机械有限公司 一种劳保手套脱模装袋机
CN114872253B (zh) * 2022-04-30 2023-11-03 扬州百思泰医疗科技有限公司 一种医用手套成型设备
CN116510989B (zh) * 2023-03-13 2023-08-29 南通百盈劳保用品有限公司 一种劳保手套生产用连续浸胶装置
CN116330557B (zh) * 2023-03-22 2023-12-08 南京润京乳胶制品有限公司 一种一次性无尘乳胶手套及其制备工艺
CN117047955B (zh) * 2023-08-17 2024-02-09 南通林赛尔智能装备有限公司 一种顶部竖直拔手套机械手
CN116890419B (zh) * 2023-09-07 2023-12-15 广州明誉医疗科技有限公司 一种医用橡胶手套成型的脱模设备

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5776520A (en) * 1996-12-12 1998-07-07 Acc Automation Company Shell molded article stripping machine
CN201472679U (zh) * 2009-06-25 2010-05-19 张振堂 手套自动包装机
CN101961903A (zh) * 2010-09-25 2011-02-02 淄博瑞邦自动化设备有限公司 塑胶手套抓取计数码分机
CN102441959A (zh) * 2011-09-28 2012-05-09 谭立山 塑胶手套生产线中对塑胶手套自动摘取并计数的装置及其摘取方法
WO2014122595A1 (en) * 2013-02-06 2014-08-14 Altevo Limited Apparatus and method for stripping and conveying a flexible product from a dip moulding former
CN204489961U (zh) * 2015-03-17 2015-07-22 淄博百泰自动化科技有限公司 手套摘取修正码放机
CN107548340A (zh) * 2015-01-30 2018-01-05 高产有限公司 用于对物品进行剥离、计数、以及分层堆放的设备和方法
CN108943542A (zh) * 2018-08-13 2018-12-07 山东星宇手套有限公司 用于浸胶手套生产线的胶池系统及浸胶手套生产线
CN208788914U (zh) * 2018-08-01 2019-04-26 赛立特(南通)安全用品有限公司 一种浸胶手套摘取装置
CN211662480U (zh) * 2019-12-31 2020-10-13 青岛萨沃特机器人有限公司 手套脱模装置
CN211662479U (zh) * 2019-12-31 2020-10-13 青岛萨沃特机器人有限公司 手套脱模机构

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5776520A (en) * 1996-12-12 1998-07-07 Acc Automation Company Shell molded article stripping machine
CN201472679U (zh) * 2009-06-25 2010-05-19 张振堂 手套自动包装机
CN101961903A (zh) * 2010-09-25 2011-02-02 淄博瑞邦自动化设备有限公司 塑胶手套抓取计数码分机
CN102441959A (zh) * 2011-09-28 2012-05-09 谭立山 塑胶手套生产线中对塑胶手套自动摘取并计数的装置及其摘取方法
WO2014122595A1 (en) * 2013-02-06 2014-08-14 Altevo Limited Apparatus and method for stripping and conveying a flexible product from a dip moulding former
CN107548340A (zh) * 2015-01-30 2018-01-05 高产有限公司 用于对物品进行剥离、计数、以及分层堆放的设备和方法
CN204489961U (zh) * 2015-03-17 2015-07-22 淄博百泰自动化科技有限公司 手套摘取修正码放机
CN208788914U (zh) * 2018-08-01 2019-04-26 赛立特(南通)安全用品有限公司 一种浸胶手套摘取装置
CN108943542A (zh) * 2018-08-13 2018-12-07 山东星宇手套有限公司 用于浸胶手套生产线的胶池系统及浸胶手套生产线
CN211662480U (zh) * 2019-12-31 2020-10-13 青岛萨沃特机器人有限公司 手套脱模装置
CN211662479U (zh) * 2019-12-31 2020-10-13 青岛萨沃特机器人有限公司 手套脱模机构

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114750347A (zh) * 2022-06-15 2022-07-15 石家庄启腾机械制造有限公司 一种胶性手套免吹气脱模机
CN114750347B (zh) * 2022-06-15 2022-09-02 石家庄启腾机械制造有限公司 一种胶性手套免吹气脱模机

Also Published As

Publication number Publication date
US20210370555A1 (en) 2021-12-02

Similar Documents

Publication Publication Date Title
WO2021135905A1 (zh) 手套脱模机构、手套点数机及手套脱模方法
US10239646B2 (en) Glove picking, organizing, and stacking apparatus
CN211662480U (zh) 手套脱模装置
CN206900748U (zh) 一种在线阵列缠膜的码垛系统
CN108001751B (zh) 一种自动手套印标装袋机及工作方法
CN106672334B (zh) 口服液制托入托封托一体机
CN108419612A (zh) 食用菌智能卧式打包机
CN115724219A (zh) 一种便于调节的码垛机器人及其使用方法
CN114347368B (zh) 一种智能的薄膜切割器一体化生产线
CN211662479U (zh) 手套脱模机构
CN207107830U (zh) 一种瓶胚取料机构
CN202439169U (zh) 用于手套点数机的辊轮机构
CN209904184U (zh) 撕离型纸设备
WO2016140563A1 (en) Apparatus and method for stripping, stretching and layering articles
WO2023088353A1 (zh) 包装套筒自动上料系统和包装套筒的自动上料方法
CN217295018U (zh) 一种袋子整理成捆机
CN107813993B (zh) 一种采血针包装系统
CN210029264U (zh) 一种纸箱码垛设备
CN207948377U (zh) 食用菌智能卧式打包机
CN202412559U (zh) 用于手套点数机的辊轮
CN112744409B (zh) 手套点数机及手套脱模包装方法
CN212498599U (zh) 手套点数机
CN209795941U (zh) 手套夹取装置
CN208539003U (zh) 一种电池自动放锌壳自动放底片机
CN216683201U (zh) 一种塑料门槛板自动取件装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20910519

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20910519

Country of ref document: EP

Kind code of ref document: A1