WO2022217776A1

WO2022217776A1 - Natural-rubber packing and feeding manipulator

Info

Publication number: WO2022217776A1
Application number: PCT/CN2021/108274
Authority: WO
Inventors: 李振华; 郭博睿; 孙世海; 白先权; 丁爱武; 张毅超
Original assignee: 海南天然橡胶产业集团股份有限公司; 海南中橡科技有限公司
Priority date: 2021-04-12
Filing date: 2021-07-23
Publication date: 2022-10-20
Also published as: CN113002855A

Abstract

A natural-rubber packing and feeding manipulator, which comprises a mechanical arm (100) and a connecting box (110), wherein a rotating disc (130) driven by a stepping electric motor (120) is provided at the lower end of the connecting box (110), and four clamping assemblies are uniformly distributed at the lower end of the rotating disc (130) in a circumferential direction; a feeding table (300), a weighing platform (400), a rubber cutting mechanism (500) and a packing table (600) are arranged below the rotating disc (130) at equal intervals in a rotation direction of the rotating disc (130); the weighing platform (400) is in signal connection with a controller, and the controller is in signal connection with the clamping assemblies and the rubber cutting mechanism (500); the rubber cutting mechanism (500) comprises a support (510), a conveying belt (520) and a baffle (530); two sides of the support (510) are provided with jacking blocks (542) driven by a second air cylinder (541); a mounting frame (550), which is driven by a driving mechanism to move forward and backward, spans the conveying belt (520); and the mounting frame (550) is provided with a cutter (561).

Description

A kind of natural rubber packing and feeding manipulator

technical field

The invention relates to the technical field of rubber packaging, in particular to a natural rubber packaging and feeding manipulator.

Background technique

Natural rubber is a natural polymer compound with polyisoprene as the main component. The latex harvested from the rubber tree is diluted with impurities, then solidified with acid, then matured, creped, granulated, dried and packaged to obtain commercially available natural rubber. Because natural rubber has relatively good insulation, resilience, plasticity and other properties, and after proper processing, it has valuable properties such as heat resistance, acid resistance, alkali resistance, wear resistance, etc., so it has a very wide range of uses, such as daily life. Warm water bags and slippers commonly used in life; blood vessels and surgeon gloves used in the medical and health industry; various tires and road signs used in transportation.

Natural rubber drying packaging is an important part of natural rubber processing. Since 2000, domestic scholars have done a lot of research on the drying of agricultural products, among which the research content of natural rubber drying is relatively rich. However, these studies are basically research on the drying process of natural rubber, and the research on the automatic production line of natural rubber drying and packaging has not yet been found. However, the feeding process of the baler of the natural rubber packaging production line is completely dependent on manual operation, which not only has low production efficiency, but also has great labor intensity. , glue delivery rollers and glue collection boxes. The drying conveyor belt is a multi-layered mesh structure, and the lower hopper is composed of a plurality of horizontal pipes with holes at the bottom arranged vertically, and lays material for each layer of the drying conveyor belt respectively. Each layer of the drying conveyor belt is provided with a baffle to ensure that the rubber layer on the conveyor belt has a certain thickness. Vertical partitions are arranged in the drying room, so that the thickness of the glue layer on the drying conveyor belt is uniform and plays the role of sealing and guiding the air flow. The glue discharging conveyor roller is also a multi-layer structure, which is arranged above each layer of drying conveyor belt in the outlet section of the drying room, and is used for outputting the dried rubber to the glue collecting box. Only natural rubber is dried. When packing the natural rubber after drying, it needs to be reloaded, and the production efficiency is low.

SUMMARY OF THE INVENTION

The present invention aims to solve one of the above-mentioned technical problems in the related art at least to a certain extent. For this reason, the present invention proposes a natural rubber packing and feeding manipulator, which drives the rotating disc to rotate 90° by a stepping motor, thereby making The clamping component automatically transports the glue blocks to the packaging table for packaging after weighing and cutting treatment in sequence, which realizes the automation of feeding, reduces the labor intensity of workers, and improves production efficiency.

The technical scheme of the present invention is realized as follows:

A natural rubber packing and feeding manipulator comprises a manipulator arm, a connection box is arranged at the lower end of the suspended end of the manipulator arm, and a rotating disc driven and rotated by a stepper motor is rotatably connected to the lower end of the connection box, and the stepper motor Set in the connection box, the lower end of the rotating disk is evenly distributed with four clamping assemblies at equal intervals in the circumferential direction, each clamping assembly includes a connecting plate, and the lower end of the connecting plate is slidably connected in the up-down direction. There is a clamping plate, the clamping plate is driven up and down by the first cylinder, and the lower end of the clamping plate is provided with a clamping part for clamping the rubber block; the lower part of the rotating plate rotates along the rotation of the rotating plate A feeding table, a weighing table, a glue cutting mechanism and a packing table are arranged at intervals in the direction. spaced arrangement, the weighing platform includes a base and a mounting plate arranged on the upper end of the base, four weight sensors are arranged between the base and the mounting plate, and the four weight sensors are respectively arranged on the The four corner positions of the mounting plate, the weight sensor signal is connected to a controller, the controller signal is connected to the clamping assembly and the glue cutting mechanism, the glue cutting mechanism includes a bracket, on the bracket A conveyor belt is provided, a baffle plate is provided on the end of the bracket away from the axis of the rotating disk, a second cylinder is symmetrically arranged on both sides of the bracket, and a top tightening block is arranged on the piston rod of the second cylinder , an end of the baffle plate facing the axis of the rotating disk is provided with a mounting bracket, the mounting bracket spans the top of the conveyor belt, and the mounting bracket is driven by a driving mechanism to move along the length direction of the bracket , the mounting frame is provided with a cutter, and the cutter is driven up and down by the third cylinder.

Further, the left and right sides of the conveyor belt are respectively provided with a first guide member and a second guide member in parallel, and the first guide member and the second guide member form a channel for the glue block to pass through, and the first guide member and the second guide member form a channel for the glue block to pass through. One end of the guide member and the second guide member facing the axis of the rotating disk are both folded outward to form a trumpet-shaped opening.

Further, a part of the bracket between the mounting frame and the baffle plate is provided with a fourth cylinder along the width direction of the bracket, and a push plate is arranged on the piston rod of the fourth cylinder.

Further, the drive mechanism includes a lead screw arranged in the middle of the lower end of the bracket, one end of the lead screw is connected with a second motor that drives the lead screw to rotate, and a nut seat is arranged on the lead screw, so The mounting bracket is connected to the nut seat.

Further, sliding rails are respectively arranged on the left and right side walls of the bracket along the length direction of the bracket, and the mounting bracket is slidably connected to the sliding rails.

Further, the lower end of the connecting plate is provided with a vertical sliding rod, and the clamping plate is slidably sleeved on the sliding rod.

Further, the clamping part includes a plurality of vacuum suction cups, the suction end of the vacuum suction cups is connected with a vacuum pump, the vacuum pump is arranged on the upper end of the clamping plate, and the vacuum pump is signally connected to the controller. .

Further, the left and right sides of the clamping portion are respectively provided with a first vertical plate and a second vertical plate, and both the first vertical plate and the second vertical plate are provided with horizontal guide cylinders , the clamping part includes a fifth cylinder and a sixth cylinder respectively arranged on both sides of the upper end of the clamping plate, the piston rods of the fifth cylinder and the sixth cylinder are respectively provided with insert rods, the The insertion rod is sleeved in the guide cylinder.

Further, a first infrared receiver is provided on the rear side of the packing table, a second infrared receiver is provided on the side of the first infrared receiving end away from the packing table, and a lower end of the connecting plate is provided with a The first infrared receiver and the second infrared receiver are matched with a first infrared transmitter, and both the first infrared receiver and the second infrared transmitter are signally connected to the controller.

Further, the front side of the packaging table is provided with a third infrared receiver, the side of the third infrared receiver away from the packaging table is provided with a fourth infrared receiver, and the lower end of the connecting plate is provided with a The third infrared receiver and the fourth infrared receiver are matched with a second infrared transmitter, and both the third infrared receiver and the fourth infrared receiver are signal-connected to the controller.

Compared with the prior art, the beneficial effects of the present invention are:

(1) In the present invention, clamping components are respectively provided at the positions of the lower end of the rotating disk corresponding to the feeding table, the weighing table, the glue cutting mechanism and the packing table. During operation, the clamping components directly above the feeding table are firstly located. The first air cylinder drives the clamping plate to descend close to the glue block on the feeding table and clamp the glue block through the clamping part, then the first air cylinder drives the clamping part and the glue block to rise and reset, and then the stepping motor starts to drive the rotation The plate rotates 90° (that is, the four clamping components are rotated and driven to the corresponding next station respectively). At this time, the clamping component that clamps the glue block from the feeding table moves to the top of the weighing table, which was originally located on the upper The clamping component directly above the material table rotates to the top of the glue cutting mechanism, the clamping component originally located directly above the glue cutting mechanism rotates to just above the packaging table, and the clamping component originally located directly above the packaging table moves. to the top of the feeding table, and then the clamping assembly directly above the feeding table clamps the glue block on the feeding table, while the clamping assembly directly above the weighing table puts the glue block on the scale. The weighing table weighs and clamps it. During the weighing process, the weighing table will transmit the weight information of the corresponding plastic block to the controller to compare the set value to determine whether the corresponding plastic block exceeds the standard plastic block weight; After clamping the rubber block on the table and placing the rubber block on the weighing table for weighing and re-clamping, the stepper motor starts to drive the rotating plate to rotate 90°, and the four clamping components are rotated and driven to the corresponding next work. position, and then the clamping assembly directly above the feeding table clamps the glue block on the feeding table, while the clamping assembly directly above the weighing table puts the glue block on the weighing table and weighs it. After clamping, the clamping component located directly above the glue cutting mechanism performs corresponding operations according to whether the weight weighed in the previous process exceeds the weight of the standard glue block. If the weight weighed in the previous process exceeds the standard glue block weight, The clamping component located directly above the glue cutting mechanism puts the glue block on the glue cutting mechanism, and cuts off the excess weight of the glue block, and then re-clamps the cut part of the glue block. If the weight of the previous process does not exceed For the weight of the standard glue block, the clamping components located directly above the glue cutting mechanism do not operate; when the clamping components located directly above the feeding table, weighing table, and glue cutting mechanism complete the corresponding actions, the stepper motor starts Drive the rotating disc to rotate 90° to drive the four clamping components to the corresponding next station respectively, and then the clamping components located directly above the feeding table clamp the glue blocks on the feeding table and at the same time they are positioned on the scale. The clamping components directly above the heavy table and the glue cutting mechanism also perform corresponding work, so that the clamping components located directly above the packaging table at the same time put the processed glue blocks on the packaging table for packaging work; After the table, the weighing table, the glue cutting mechanism and the clamping components directly above the packaging table complete the corresponding actions, the stepping motor rotates and drives the rotating disk to rotate 90° to realize the above-mentioned cyclic work, so that the four clamping components are Circulate between positions and perform corresponding work to realize automatic assembly line production of reclaiming, weighing, cutting (overweight) and loading and packaging, replacing the traditional manual weighing, cutting off excess weight and handling and loading. work, reduce the labor intensity of work, improve Productivity.

(2) Since there are weight sensors at the four corners of the mounting plate, the four weight sensors are respectively weighed to detect the weight of the glue block placed on the mounting plate. The detection information of each weight sensor is analyzed and processed to reduce the deviation caused by the load distribution and transfer process, and the weight of the glue block placed on the weighing platform can be measured reliably.

(3) By providing a conveyor belt on the bracket, when the clamping assembly holding the glue block that exceeds the weight of the standard glue block rotates to the top of the glue cutting mechanism under the driving of the stepping motor, the first air cylinder is activated Extend the piston rod, lower the clamping plate, the clamping part and the rubber block onto the conveyor belt, then release the clamping part, start the conveyor belt, and the conveyor belt will move the overweight rubber block to the position where it touches the baffle and stop Rotate, and then the second cylinder is activated to extend the piston rod, so that the two clamping blocks fix the rubber block, and then the mounting frame is driven by the driving mechanism to adjust the cutter and the baffle according to the weight of the rubber block exceeding the standard rubber block. Then the cutter is driven down by the third cylinder to cut off the overweight part of the rubber block, then the cutter is raised, the top tightening block is retracted to loosen the rubber block, and the reverse movement of the conveyor belt will cut off the overweight part. The plastic block is reset, and the clamping component located above the conveyor belt re-clamps the plastic block that has cut off the overweight part, and then transports it to the packing table for packing. , to ensure that the quality of the packaged plastic blocks meets the requirements.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

Fig. 1 is the structural representation of the first embodiment of a kind of natural rubber packing and feeding manipulator of the present invention;

Figure 2 is a schematic diagram of the arrangement of the feeding table, the weighing table, the glue cutting mechanism and the packing table in Figure 1;

Fig. 3 is the enlarged schematic diagram of A place in 2;

Fig. 4 is the top-view structure schematic diagram of the glue cutting mechanism in the embodiment of the present invention;

Fig. 5 is the side view structural schematic diagram of the glue cutting mechanism in the embodiment of the present invention;

Fig. 6 is the enlarged schematic diagram at B in Fig. 5;

7 is a schematic front view of a cross-section of the glue cutting mechanism in the embodiment of the present invention;

Fig. 8 is the front view structure schematic diagram of Fig. 1;

Fig. 9 is the bottom view structural schematic diagram of the assembly of the rotating disk and the four clamping assemblies in Fig. 8;

Fig. 10 is the enlarged schematic diagram of C in Fig. 9;

11 is a schematic structural diagram of a weighing platform in an embodiment of the present invention;

12 is a schematic front view of the structure of a second embodiment of a natural rubber packing and feeding manipulator of the present invention;

FIG. 13 is a schematic diagram of the structure at D in FIG. 12 .

Reference number:

100 mechanical arms, 110 connection boxes, 120 stepping motors, 130 rotating discs;

210 connecting plate, 220 clamping plate, 230 first cylinder, 240 sliding rod;

300 feeding table;

400 weighing platform, 410 base, 420 mounting plate, 430 weight sensor;

500 glue cutting mechanism, 510 bracket, 511 slide rail, 520 conveyor belt, 530 baffle plate, 541 second cylinder, 542 top tightening block, 550 mounting frame, 561 cutter, 562 third cylinder, 571 first guide, 572 Second guide, 581 fourth cylinder, 582 baffle plate, 591 lead screw, 592 second motor, 593 nut seat;

600 packing tables;

710 vacuum suction cup, 720 vacuum pump;

810 first vertical plate, 820 second vertical plate, 830 guide cylinder, 840 fifth cylinder, 850 sixth cylinder, 860 insert rod;

910 first infrared receiver, 920 second infrared receiver, 930 first infrared transmitter, 940 third infrared receiver, 950 fourth infrared receiver, 960 second infrared transmitter.

Detailed ways

Example 1

Referring to FIGS. 1 to 11 , a natural rubber packing and feeding manipulator provided according to an embodiment of the present invention includes a manipulator arm 100 . A connection box 110 is provided at the lower end of the suspended end of the manipulator arm 100 . The connection box 110 The lower end of the rotating disk 130 is rotatably connected with a rotating disk 130 driven and rotated by a stepping motor 120, the stepping motor 120 is arranged in the connecting box 110, and the lower end of the rotating disk 130 is evenly distributed with four clips at equal intervals in the circumferential direction. Each clamping assembly includes a connecting plate 210, and the lower end of the connecting plate 210 is slidably connected to a clamping plate 220 in the up-down direction. The clamping plate 220 is driven up and down by the first air cylinder 230. The lower end of the clamping plate 220 is provided with a clamping portion for clamping the glue block; the lower part of the rotating plate 130 is provided with a feeding table 300 , a weighing table 400 and a glue cutting mechanism at intervals along the rotation direction of the rotating plate 130 . 500 and the packing table 600, the feeding table 300, the weighing table 400, the glue cutting mechanism 500 and the packing table 600 are arranged at equal intervals in the circumferential direction with the axis of the rotating disk 130 as the center, and the weighing table 400 includes a base 410 and a mounting plate 420 arranged on the upper end of the base 410, four weight sensors 430 are arranged between the base 410 and the mounting plate 420, and the four weight sensors 430 are respectively arranged on the At the four corner positions of the mounting plate 420, the weight sensor 430 is connected to a controller with a signal, and the controller is connected to the clamping assembly and the glue cutting mechanism 500, and the glue cutting mechanism 500 includes a bracket 510 , a conveyor belt 520 is arranged on the bracket 510, a baffle 530 is arranged on the end of the bracket 510 away from the axis of the rotating disk 130, and a second cylinder 541 is symmetrically arranged on both sides of the bracket 510. A pressing block 542 is provided on the piston rod of the second air cylinder 541 , and a mounting bracket 550 is provided at one end of the baffle plate 530 facing the axis of the rotating disk 130 , and the mounting bracket 550 spans the conveyor belt 520 Above, the mounting frame 550 is driven by a driving mechanism to move along the length direction of the bracket 510 . The model of the controller here is FX3G.

Compared with the prior art, in the embodiment of the present invention, clamping components are respectively provided at the positions of the lower end of the rotating disk 130 corresponding to the feeding table 300 , the weighing table 400 , the glue cutting mechanism 500 and the packing table 600 . During operation, First, the first air cylinder 230 of the clamping assembly located directly above the feeding table 300 drives the clamping plate 220 to descend and close to the glue block on the feeding table 300 and clamp the glue block through the clamping part, and then the first air cylinder 230 drives the clamp The holding part and the glue block are lifted and reset, and then the stepping motor 120 is activated to drive the rotating disk 130 to rotate 90° (that is, the four clamping components are rotated and driven to the corresponding next station respectively), at this time, the clamping unit is clamped from the loading table 300 The clamping assembly of the glue block is moved to the top of the weighing table 400, the clamping assembly that was originally located directly above the feeding table 300 is rotated to be directly above the glue cutting mechanism 500, and the clamping assembly that was originally located directly above the glue cutting mechanism 500. The clamping assembly rotates to just above the packing table 600 , the clamping assembly originally located directly above the packing table 600 moves to the right above the feeding table 300 , and then the clamping assembly located directly above the feeding table 300 will load the material. While the glue block on the table 300 is clamped and lifted, the clamping assembly located directly above the weighing table 400 places the glue block on the weighing table 400 to weigh and hold it up. During the weighing process, the weighing table 400 will Transfer the weight information of the corresponding glue block to the controller and compare the set value to judge whether the corresponding glue block exceeds the standard glue block weight; After reloading and re-clamping, the stepping motor 120 is activated to drive the rotating plate 130 to rotate 90° to drive the four clamping components to the corresponding next station respectively, and then the clamping components located directly above the feeding table 300 are clamped. The assembly clamps the glue block on the feeding table 300 and at the same time the clamping assembly located directly above the weighing table 400 puts the glue block on the weighing table 400 and weighs and clamps it. At this time, it is located in the glue cutting mechanism 500 The clamping component directly above performs corresponding operations according to whether the weight weighed in the previous process exceeds the weight of the standard glue block. The assembly puts the glue block on the glue cutting mechanism 500, cuts off the excess weight of the glue block, and then re-clamps the cut part of the glue block. If the weight of the previous process does not exceed the standard glue The clamping components directly above the glue mechanism 500 do not operate; when the clamping components located directly above the feeding table 300 , the weighing table 400 and the glue cutting mechanism 500 complete their corresponding actions, the stepping motor 120 starts to drive the rotating disk 130 rotates 90° to drive the four clamping components to the corresponding next station respectively, and then the clamping components located directly above the feeding table 300 clamp the glue blocks on the feeding table 300 while they are positioned on the scale. The clamping components directly above the heavy table 400 and the glue cutting mechanism 500 also perform corresponding work, so that the clamping components located directly above the packaging table 600 at the same time place the processed glue blocks on the packaging table 600 for packaging work. ;When loading table 30 0. After the clamping components directly above the weighing table 400, the glue cutting mechanism 500 and the packing table 600 complete the corresponding actions, the stepping motor 120 rotates and drives the rotating disk 130 to rotate 90° to realize the above-mentioned cyclic work, so that the four clamping The components circulate among the four stations and perform corresponding work to realize automatic assembly line production of reclaiming, weighing, cutting (overweight) and loading and packaging, replacing traditional manual handling and weighing, and then cutting off excess weight. And the work of handling and loading materials, reducing the labor intensity of the work and improving the production efficiency. At the same time, in the embodiment of the present invention, since the weight sensors 430 are respectively provided at the four corners of the mounting plate 420, the four weight sensors 430 are respectively weighed and detected, so as to facilitate the adjustment of the glue blocks placed on the mounting plate 420. It can be analyzed and processed according to the detection information of the four weight sensors 430 to reduce the deviation caused by the load distribution and transfer process, and the weight of the glue block placed on the weighing platform 400 can be reliably measured Measurement. In the embodiment of the present invention, a conveyor belt 520 is provided on the bracket 510 , when the clamping assembly holding the glue block that exceeds the weight of the standard glue block is driven by the stepping motor 120 and rotates to just above the glue cutting mechanism 500 After that, the first air cylinder 230 is activated to extend the piston rod, and the clamping plate 220, the clamping part and the rubber block are lowered to the conveyor belt 520, and then the clamping part is released, and the conveyor belt 520 is activated, and the conveyor belt 520 will be overweight. The rubber block moves to the position abutting the baffle 530 and stops rotating, and then the second air cylinder 541 is activated to extend the piston rod, so that the two pressing blocks 542 fix the rubber block, and then the mounting frame 550 is driven by the driving mechanism according to the Adjust the distance between the cutter 561 and the baffle 530 when the glue block exceeds the weight of the standard glue block (it is understandable that due to the constant cross-sectional area of the glue block, there are differences in length between different glue blocks. The phenomenon of overweight, so a certain length of glue block corresponds to a certain weight), and then the cutter 561 is lowered under the drive of the third air cylinder 562 to cut off the overweight part of the glue block, and then the cutter 561 is lifted and the block 542 is pushed up. Retract and release the glue block, the conveyor belt 520 moves in the reverse direction to reset the glue block with the overweight part removed, and the clamping component located above the conveyor belt 520 re-clamps the glue block with the overweight part removed, and then transports it to the packing table 600 Packing is carried out to realize automatic cutting processing of overweight plastic blocks and then transport them to the packing table 600 for packing, so as to ensure that the quality of the packed plastic blocks meets the requirements.

As shown in FIG. 4 , FIG. 5 and FIG. 7 , preferably, a first guide member 571 and a second guide member 572 are respectively provided on the left and right sides of the conveyor belt 520 in parallel, and the first guide member 571 and the The second guide member 572 forms a channel for the glue block to pass through, and one end of the first guide member 571 and the second guide member 572 toward the axis of the rotating disk 130 is folded outward to form a trumpet-shaped opening. The trumpet-shaped opening makes it possible to gradually correct and form a horizontal shape when the clamping part places the glue block on the conveyor belt 520, and moves to the position where it abuts against the baffle 530 in the guide of the channel, so that the cutter 561 can be more accurate. Cut off the overweight part of the glue block.

As shown in FIGS. 4 to 6 , further preferably, a fourth cylinder 581 is provided along the width direction of the bracket 510 on the part of the bracket 510 between the mounting bracket 550 and the baffle 530 , so A push plate 582 is provided on the piston rod of the fourth cylinder 581 . Considering that after the cutter 561 cuts off the overweight part of the glue block, there will still be a phenomenon of "coupling" between the cut part and the body part of the glue block. Push plate 582, after the cutter 561 cuts off the overweight part of the glue block, activate the fourth air cylinder 581 to extend, so that the push plate 582 pushes the overweight part of the glue block down the bracket 510 into the collection box for collection, so that the cut part is It is completely separated from the body part of the glue block.

As shown in FIG. 5 and FIG. 7 , preferably, the driving mechanism includes a lead screw 591 arranged in the middle of the lower end of the bracket 510 , and one end of the lead screw 591 is connected with a second screw for driving the lead screw 591 to rotate. For the motor 592 , the lead screw 591 is provided with a nut seat 593 , and the mounting bracket 550 is connected to the nut seat 593 . When the controller detects that the weight of the glue block placed on the weighing platform 400 exceeds the weight of the standard glue block, it calculates the overweight value and converts it into a length value corresponding to the glue block, and then controls the second motor 592 to drive the lead screw 591 to rotate , since both ends of the lead screw 591 are rotatably connected to the bracket 510, the nut seat 593 and the mounting bracket 550 are moved along the length of the bracket 510 to adjust the distance between the cutter 561 and the baffle 530 to ensure that the cutter 561 Under the driving of the third air cylinder 562, pressing down can more accurately cut off the overweight part of the glue block.

Further preferably, sliding rails 511 are respectively arranged on the left and right side walls of the bracket 510 along the length direction of the bracket 510 , and the mounting bracket 550 is slidably connected to the sliding rails 511 . Guided by the slide rails 511 , the mounting bracket 550 can smoothly and smoothly move along the length direction of the bracket 510 when the second motor 592 drives the lead screw 591 to rotate. The distance between the cutter 561 and the baffle 530 can be adjusted more accurately, so as to ensure that the cutter 561 is pressed down by the third cylinder 562 to accurately cut off the overweight part of the glue block.

As shown in FIG. 8 , preferably, the lower end of the connecting plate 210 is provided with a vertical sliding rod 240 , and the clamping plate 220 is slidably sleeved on the sliding rod 240 . Under the guiding operation of the sliding rod 240 , the clamping plate 220 can be moved up and down smoothly and accurately under the driving of the first air cylinder 230 , so as to smoothly pick up or put down the glue block.

As shown in FIG. 8 to FIG. 10 , preferably, the clamping part includes a plurality of vacuum suction cups 710 , and a vacuum pump 720 is connected to the suction end of the vacuum suction cups 710 , and the vacuum pump 720 is arranged on the clamping plate At the upper end of 220, the vacuum pump 720 is signally connected to the controller. In this way, when the glue block needs to be picked up, the vacuum suction cup 710 is attached to the upper end face of the glue block, and then the vacuum pump 720 starts to pump air, so that the space between the vacuum suction cup 710 and the upper end face of the glue block forms a vacuum area, Thereby, the glue block is tightly attached to the vacuum suction cup 710 under the action of negative pressure, so that the glue block can be picked up; when the glue block needs to be put down, the vacuum pump 720 is turned off, so that the vacuum suction cup 710 and the upper end surface of the glue block are in contact with each other. The space between them is filled with air, so that the glue block and the vacuum suction cup 710 are separated from each other. By providing a plurality of vacuum suction cups 710, the suction force for the glue block can be ensured, and the situation that the glue block cannot be sucked up when one of the vacuum suction cups 710 is not sucked tightly can be avoided; and the vacuum suction cup 710 is under negative pressure. The function sucks the glue block without damaging the glue block.

As shown in FIG. 2 , FIG. 9 , FIG. 9 and FIG. 10 , preferably, a first infrared receiver 910 is provided on the rear side of the packing table 600 , and the first infrared receiver 910 is away from a side of the packing table 600 . A second infrared receiver 920 is arranged on the side, and a first infrared transmitter 930 matched with the first infrared receiver 910 and the second infrared receiver 920 is arranged at the lower end of the connecting plate 210. An infrared receiver 910 and the second infrared transmitter 960 are both signally connected to the controller. Because there will be errors in the process that the stepping motor 120 drives the rotating disk 130 to rotate, and the accumulation of errors will continue to increase with the continuous accumulation of the number of rotations, and the accumulated errors will affect the accuracy of work after reaching a certain value. Therefore, the present invention In the embodiment, the second infrared receiver 920 is disposed on the side of the first infrared receiver 910 away from the packing table 600. When the rotation error of the rotating disk 130 is accumulated to the second infrared receiver 920, the second infrared receiver 920 receives the first infrared transmitter 930. When the signal is received, the second infrared receiver 920 transmits the signal to the controller, and the controller controls the stepping motor 120 to drive the rotating disk 130 to reverse to the position where the first infrared receiver 910 receives the signal sent by the first infrared transmitter 930. Error compensation in order to work properly.

Further preferably, the front side of the packing table 600 is provided with a third infrared receiver 940, and the side of the third infrared receiver 940 away from the packing table 600 is provided with a fourth infrared receiver 950. The lower end of the board 210 is provided with a second infrared transmitter 960 matched with the third infrared receiver 940 and the fourth infrared receiver 950, the third infrared receiver 940 and the fourth infrared receiver 950 are all signal-connected to the controller. In this way, when the rotation amount of the rotating disk 130 driven by the stepping motor 120 is less than 90° each time and the error is continuously accumulated until the fourth infrared receiver 950 receives the signal from the second infrared transmitter 960, the fourth infrared receiver 950 The signal is transmitted to the controller, and the controller controls the stepper motor 120 to drive the rotating disk 130 to rotate forward to the position where the third infrared receiver 940 receives the signal sent by the second infrared transmitter 960 for error compensation, so that the work can be carried out normally; The cooperative work of the second infrared receiver 920 and the fourth infrared receiver 950 enables the accumulated rotational error of the rotating disk 130 to transmit a signal to the controller for error compensation regardless of whether it is a forward rotation error or a reverse rotation error accumulated to affect the working accuracy .

Embodiment 2

Referring to FIG. 12 and FIG. 13 , the difference between the embodiment of the present invention and the first embodiment is that the left and right sides of the clamping portion are respectively provided with a first vertical plate 810 and a second vertical plate 820 . The first vertical plate 810 and the second vertical plate 820 are both provided with horizontal guide cylinders 830 , and the clamping portion includes fifth cylinders 840 respectively disposed on both sides of the upper end of the clamping plate 220 . and the sixth air cylinder 850 , the piston rods of the fifth air cylinder 840 and the sixth air cylinder 850 are respectively provided with insertion rods 860 , and the insertion rods 860 are sleeved in the guide cylinder 830 . In this way, when the glue block needs to be taken up, the piston rod of the first air cylinder 230 extends so that the first vertical plate 810 and the second vertical plate 820 are placed on the two outer sides of the glue block, and then the fifth air cylinder 840 is activated simultaneously. and the piston rod of the sixth air cylinder 850 is contracted, so that the insertion rods 860 on both sides are moved inward and inserted into the glue block, and then the piston rod of the first air cylinder 230 is contracted; when the glue block needs to be put down, the first The piston rod of the first air cylinder 230 is extended, so that after the rubber block is lowered to the corresponding position, the piston rods of the fifth air cylinder 840 and the sixth air cylinder 850 are simultaneously activated to shrink. Under the action of the limit, the insertion rod 860 can be pulled out from the colloid. It can be understood that the distance between the first vertical plate 810 and the second vertical plate 820 is slightly larger than the dimension in the width direction of the glue block.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. within.

Claims

A natural rubber packing and feeding manipulator is characterized in that it includes a manipulator arm, a connection box is arranged at the lower end of the suspended end of the manipulator arm, and a rotating disc driven and rotated by a stepping motor is rotatably connected to the lower end of the connection box. The stepping motor is arranged in the connection box, and the lower end of the rotating disk is evenly distributed with four clamping assemblies at equal intervals in the circumferential direction, and each clamping assembly includes a connecting plate, and the lower end of the connecting plate is along the circumference. A clamping plate is slidably connected in the up and down direction, the clamping plate is driven up and down by the first air cylinder, and the lower end of the clamping plate is provided with a clamping part for clamping the rubber block; The rotation direction of the rotating disk is provided with a feeding table, a weighing table, a glue cutting mechanism and a packing table. The centers of the circles are arranged at equal intervals in the circumferential direction, the weighing platform includes a base and a mounting plate arranged on the upper end of the base, and four weight sensors are arranged between the base and the mounting plate, and the four weight sensors are respectively It is arranged at the four corner positions of the mounting plate, the weight sensor signal is connected with a controller, and the controller signal is connected with the clamping assembly and the glue cutting mechanism, and the glue cutting mechanism includes a bracket, The support is provided with a conveyor belt, the end of the support away from the axis of the rotating disk is provided with a baffle plate, the two sides of the support are symmetrically provided with a second air cylinder, and the piston rod of the second air cylinder is provided with a baffle plate. There is a top tightening block, and one end of the baffle plate facing the axis of the rotating disk is provided with a mounting frame, the mounting frame spans above the conveyor belt, and the mounting frame is driven by a driving mechanism along the bracket. The installation frame is provided with a cutter, and the cutter is driven up and down by the third cylinder to move up and down.
The natural rubber packing and feeding manipulator according to claim 1, wherein a first guide member and a second guide member are respectively arranged on the left and right sides of the conveyor belt in parallel, and the first guide member and the The second guide member forms a channel for the glue block to pass through, and one end of the first guide member and the second guide member facing the axis of the rotating disk is folded outward to form a trumpet-shaped opening.
The natural rubber packing and feeding manipulator according to claim 1 or 2, wherein the part of the bracket located between the mounting bracket and the baffle plate is provided with a first part along the width direction of the bracket. There are four cylinders, and a push plate is arranged on the piston rod of the fourth cylinder.
The natural rubber packing and feeding manipulator according to claim 1, wherein the driving mechanism comprises a lead screw arranged in the middle of the lower end of the bracket, and one end of the lead screw is connected to drive the lead screw In the second rotating motor, a nut seat is arranged on the lead screw, and the mounting bracket is connected to the nut seat.
The natural rubber packing and feeding manipulator according to claim 4, wherein slide rails are respectively arranged on the left and right side walls of the bracket along the length direction of the bracket, and the mounting bracket is slidably connected to on the slide rail.
The natural rubber packing and feeding manipulator according to claim 1, wherein a vertical sliding rod is provided at the lower end of the connecting plate, and the clamping plate is slidably sleeved on the sliding rod.
The natural rubber packing and feeding manipulator according to claim 1, wherein the clamping part includes a plurality of vacuum suction cups, the suction end of the vacuum suction cups is connected with a vacuum pump, and the vacuum pump is arranged in the The upper end of the clamping plate, the vacuum pump is signally connected to the controller.
The natural rubber packing and feeding manipulator according to claim 1, wherein a first vertical plate and a second vertical plate are respectively provided on the left and right sides of the clamping portion, and the first vertical plate is Both the plate and the second vertical plate are provided with horizontal guide cylinders, the clamping part includes a fifth air cylinder and a sixth air cylinder respectively arranged on both sides of the upper end of the clamping plate, the fifth air cylinder and the Insert rods are respectively provided on the piston rods of the sixth cylinder, and the insertion rods are sleeved in the guide cylinder.
The natural rubber packing and feeding manipulator according to claim 1, wherein a first infrared receiver is provided on the rear side of the packing table, and the first infrared receiving end faces away from the side of the packing table A second infrared receiver is provided, the lower end of the connecting plate is provided with a first infrared transmitter matching the first infrared receiver and the second infrared receiver, the first infrared receiver and the The second infrared transmitters are all signal-connected to the controller.
The natural rubber packing and feeding manipulator according to claim 9, wherein a third infrared receiver is provided on the front side of the packing table, and the third infrared receiver faces away from the packing table. A fourth infrared receiver is provided, the lower end of the connecting plate is provided with a second infrared transmitter matching the third infrared receiver and the fourth infrared receiver, the third infrared receiver and the The fourth infrared receivers are all signal-connected to the controller.