Tire servo manipulator
Technical field
The present invention relates to a kind of conveying arrangement, specifically, is a kind of tire servo manipulator.
Background technology
The lifting of conventional robot adopts water vat or hydraulic jack to drive, its lifting position, rely on stop valve and configuration approach switch to control, but because stop valve commutation has time delay, the stability of approach switch work is also lower, the lifting of manipulator be there will be compared with big bang, and accurate off-position is put inaccurate.Proceeding to of conventional robot support arm produced, also be to rely on cylinder or water vat to drive, and configure buffer and approach switch, due to proceeding to of support arm produce position need very accurate, when use, need to adjust accurately its drive unit and positioner, guarantee manipulator produces while proceeding to and the axiality of division center, makes the workload of its install and adjust larger, even if through so adjust, proceed to produce action operation also and unstable.The gripper of conventional robot, opening and closing also generally adopts air cylinder driven, and wants manually to adjust according to the specification of tire.In the time that two cover manipulators are symmetrically arranged, lifting, proceed to produce and the synchronism of gripper opening and closing also all poor.
Summary of the invention
The present invention is directed to current tire machinery hand, vibration is large, accurate off-position is put inaccurate, proceed to produce action adjust difficulty large, working strength is high, when catching tire, also need to adjust according to tire specification, the synchronism of working between manipulator is the problem such as poor also, has designed a kind of tire servo manipulator.
Tire servo manipulator of the present invention, it is characterized in that, comprise pedestal, elevating bracket, support arm and pawl dish, pedestal is vertically provided with lifting guide shaft, elevating bracket is slidably mounted on lifting guide shaft, and support arm one end is hinged on elevating bracket, and the other end is fixedly connected with pawl dish, multiple click-on mechanism for fixed tire are installed on pawl dish, and click-on mechanism is all positioned on the circumference taking pawl disk center as the center of circle.
Elevating screw and lifting motor are installed on pedestal, and the first screw rod of elevating screw is parallel with lifting guide shaft and driven and be rotated by lifting motor, and the first nut of elevating screw is fixedly connected with elevating bracket.
Oscillating motor is installed between elevating bracket and support arm, swings leading screw and swings locating rack, swinging locating rack comprises two positioning seats and is arranged on the swing guide shaft between positioning seat, swing on guide shaft and be slidably fitted with locating piece, locating piece and support arm are coupling, swinging leading screw is also arranged between two positioning seats, the second screw rod that swings leading screw is parallel with swing guide shaft, and be connected with oscillating motor one end, make oscillating motor drive the second screw rod rotation, the oscillating motor other end is hinged on elevating bracket, and the second nut that swings leading screw is fixed on locating piece.
Described click-on mechanism comprises line slideway, slide unit, calvus and rotating shaft, line slideway is fixed on pawl dish, and point to pawl disk center, slide unit is arranged on line slideway, calvus is fixed on slide unit the inner, and rotating shaft is rotatable to be arranged on pawl dish, is positioned at a side of line slideway, gear and sprocket wheel are installed in rotating shaft, and gear engages with the tooth bar that slide unit sidewall arranges.
The crawl motor of drive shaft rotation is also installed on pawl dish, between the sprocket wheel in adjacent shafts all by chain drive.
Lifting motor, oscillating motor and crawl motor are all servomotor.
Preferably, the inner side of positioning seat is all provided with beam.
The invention has the beneficial effects as follows: the lifting of tire servo manipulator, proceed to and produce and calvus opening and closing all coordinates servomotor to carry out by leading screw, various moving components operate steadily, almost shockproof, and standard is stopped accurately, proceed to while producing and the alignment degree of central authority accurate, alignment degree is high, without manually carrying out accurate adjustment, reduce workman's labour intensity, also can accurately control the movement position of all parts, make calvus on pawl dish mate rapidly the tire of different size, strengthened the applicability of gripper.Proceeding to of manipulator produced by motor, leading screw and swings the winding machine that locating rack three forms, not only can accurately locate swinging, also provide power to the swing of support arm, need not each self-corresponding mechanism be installed respectively to swinging power and swinging location, mechanism's quantity and amount of parts are reduced, reduce the cost of producing and manufacturing, reduced the volume of manipulator entirety.The beam of positioning seat inner side, in not taking Whole Equipment volume, has further reduced the vibration between locating piece and positioning seat, has improved the stability of mechanism's operation.
Brief description of the drawings
Accompanying drawing 1 is the structure chart of tire servo manipulator.
Detailed description of the invention
Tire servo manipulator of the present invention, as shown in Figure 1, comprises pedestal 1, elevating bracket 2, support arm 3 and pawl dish 4.
Pedestal 1 is vertically provided with lifting guide shaft 5, elevating bracket 2 is slidably mounted on lifting guide shaft 5, support arm 3 one end are hinged on elevating bracket 2, the other end is fixedly connected with pawl dish 4, multiple click-on mechanism for fixed tire are installed on pawl dish 4, and click-on mechanism is all positioned at taking pawl dish 4 centers on the circumference in the center of circle.。
Elevating screw 6 and lifting motor 7 are installed on pedestal 1, and the first screw rod 8 of elevating screw 6 is parallel with lifting guide shaft 5 and driven and be rotated by lifting motor 7, and the first nut 9 of elevating screw 6 is fixedly connected with elevating bracket 2.
Between elevating bracket 2 and support arm 3, oscillating motor 10 is installed, swing leading screw 11 and swing locating rack 12, swinging locating rack 12 comprises two positioning seats 13 and is arranged on the swing guide shaft 14 between positioning seat 13, swing on guide shaft 14 and be slidably fitted with locating piece 15, locating piece 15 is coupling with support arm 3, swinging leading screw 11 is also arranged between two positioning seats 13, the second screw rod 16 that swings leading screw 11 is parallel with swing guide shaft 14, and be connected with oscillating motor 10 one end, make oscillating motor drive the second screw rod 16 to rotate, oscillating motor 10 other ends are hinged on elevating bracket 2, the second nut 17 that swings leading screw 11 is fixed on locating piece 15.The inner side of positioning seat 13 is all provided with beam, and locating piece 15 slides while arriving positioning seat 13, the impact between buffering locating piece 15 and positioning seat 16.
Described click-on mechanism comprises line slideway 18, slide unit 19, calvus 20 and rotating shaft 21, line slideway 18 is fixed on pawl dish 4, and point to pawl dish 4 centers, slide unit 19 is arranged on line slideway 18, calvus 20 is fixed on slide unit 19 the inners, and rotating shaft 21 is rotatable to be arranged on pawl dish 4, and is positioned at a side of line slideway 18, gear 22 and sprocket wheel 23 are installed in rotating shaft 21, and gear 22 engages with the tooth bar 24 of slide unit 19 sidewall settings.
The crawl motor 25 that drive shaft 21 is rotated is also installed on pawl dish 4, between the sprocket wheel 23 in adjacent shafts 21 all by chain drive.
Lifting motor 7, oscillating motor 10 and crawl motor 25 are all servomotor.
When use, drive elevating screw 6 by lifting motor 7, make elevating bracket 2 and be arranged on the miscellaneous part lifting on elevating bracket 2.
Drive and swing leading screw 11 by oscillating motor 10, locating piece 15 is moved between two positioning seats 13, thereby the distance between locating piece 15 and oscillating motor 10 is changed.Because locating piece 15 and support arm 3 are coupling, oscillating motor 10 is also hinged on elevating bracket 2, when distance becomes large between oscillating motor 10 and locating piece 15, make locating piece 15 promote support arm 3 and produce, otherwise 3 of support arms proceeds to.
On pawl dish 4, capture motor 25 by drive shaft 21, make rotating shaft 21 transmission with tooth bar 23 by gear 22, allow slide unit 19 move in or out with calvus 20, and being synchronized with the movement by chain drive between rotating shaft 21.In the time that manipulator moves to tire place, all claw all extend in tire inner circle, and calvus 20 is all outwards mobile, make claw 20 be against the rim of the mouth place of tire, tire is fixed, manipulator moves to destination locations, all move inward at control claw 20, unclamp tire.