| With the rapidly development of tire industry, the automaticity of vulcanization equipment which the important equipment of tire production improve constantly. However, vulcanization loading operation remains in the transition stage between traditional manual operation mode and automatic work mode. Different from the metal forming material, rubber tire is so soft that it is easily deformed by forces or environmental change. Manipulator is difficult to imitate the hand to load tires specifically. Thus, it is necessary to develop different fixture and equipment to realize automatic loading operation of different kind tires.This paper focus on a certain type of non-pneumatic tires, according to the vulcanization process requirement, combining with the vulcanizing machine and convey belt, design a set of automatic loading and unloading manipulator system. Then via a series of mounting and debugging steps, the automatic operations of tires loading goes work. The manipulator system mainly include execution and control system. Execution system include body and fixture. Firstly, we determine the structure and performance index relying on the working conditions, such as operating stroke etc. Then chose the type of manipulator and design the structure of each axis and the fixture. Control system includes hardware platform and control software. Firstly, we divide the control system in several function modules depending on the functional requirements. Then we construct the hardware platform and write the software depending on different modules. After designing whole manipulator system, we debug it at the industry scene.The development of vulcanization loading process can help to solve the problems of highly labor costs and hire shortage, improving the efficiency of tire production and guarantee the quality of the tires. Though the prospect is promising, however, there are numerous tire types and vulcanization equipment, we without doubt will confront great challenges at the same time. |
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