CN104070520A - Tire servo manipulator - Google Patents

Tire servo manipulator Download PDF

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Publication number
CN104070520A
CN104070520A CN201410273267.8A CN201410273267A CN104070520A CN 104070520 A CN104070520 A CN 104070520A CN 201410273267 A CN201410273267 A CN 201410273267A CN 104070520 A CN104070520 A CN 104070520A
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CN
China
Prior art keywords
lifting
pawl dish
motor
tire
claw
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CN201410273267.8A
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Chinese (zh)
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CN104070520B (en
Inventor
刘宗良
殷晓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Hailang Intelligent Equipment Co ltd
Original Assignee
Qingdao Doublestar Rubber and Plastic Machinery Co Ltd
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
Application filed by Qingdao Doublestar Rubber and Plastic Machinery Co Ltd filed Critical Qingdao Doublestar Rubber and Plastic Machinery Co Ltd
Priority to CN201410273267.8A priority Critical patent/CN104070520B/en
Publication of CN104070520A publication Critical patent/CN104070520A/en
Application granted granted Critical
Publication of CN104070520B publication Critical patent/CN104070520B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A tire servo manipulator is characterized by comprising a base frame, a lifting base, a supporting arm and a claw plate; the base frame is vertically provided with a lifting guiding shaft; the lifting base is installed on the lifting guiding shaft in a sliding mode; one end of the supporting arm is hinged to the lifting base; the other end of the supporting arm is fixedly connected with the claw plate; a plurality of clamping claw mechanisms which are used for fixing tires are installed on the claw plate; the clamp claw mechanisms are arranged at the circumference with the clamp plate center serving as a center of a circle. Lifting, rolling in and rolling out of the tire servo manipulator and opening and closing of claw pieces are performed due to the fact that a screw is matched with a servo motor, operation of various movement components is stable and free of vibration and can be accurately stopped, the alignment degree with a central mechanism during rolling in and rolling out is accurate, the alignment degree is high and does not require to be accurately adjusted manually, the labor intensity of workers is reduced, movement positions of the components can be accurately controlled, the claw piece on the clamp plate can be rapidly matched with the tires in different sizes, and the manipulator applicability is increased.

Description

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.

Claims (2)

1. a tire servo manipulator, it is characterized in that, comprise 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 is hinged on elevating bracket (2), the other end is fixedly connected with pawl dish (4), the multiple click-on mechanism for fixed tire of the upper installation of pawl dish (4), click-on mechanism is all positioned at taking pawl dish (4) center on the circumference in the center of circle
Elevating screw (6) and lifting motor (7) are installed on pedestal (1), first screw rod (8) of elevating screw (6) is parallel with lifting guide shaft (5) and driven and be rotated by lifting motor (7), 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) rotation, oscillating motor (10) other end is hinged on elevating bracket (2), the second nut (17) that swings leading screw (11) is fixed on locating piece (15),
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) center, slide unit (19) is arranged on line slideway (18), calvus (20) is fixed on slide unit (19) the inner, rotating shaft (21) is rotatable to be arranged on pawl dish (4), and be positioned at a side of line slideway (18), gear (22) and sprocket wheel (23) are installed in rotating shaft (21), gear (22) engages with the tooth bar (24) that slide unit (19) sidewall arranges,
The crawl motor (25) of drive shaft (21) rotation 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.
2. tire servo manipulator according to claim 1, is characterized in that, the inner side of positioning seat (13) is all provided with beam.
CN201410273267.8A 2014-06-18 2014-06-18 Tire servo manipulator Active CN104070520B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410273267.8A CN104070520B (en) 2014-06-18 2014-06-18 Tire servo manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410273267.8A CN104070520B (en) 2014-06-18 2014-06-18 Tire servo manipulator

Publications (2)

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CN104070520A true CN104070520A (en) 2014-10-01
CN104070520B CN104070520B (en) 2016-02-24

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106276245A (en) * 2016-10-14 2017-01-04 昆山艾博机器人股份有限公司 A kind of Multifunctional hub Handling device
CN106313070A (en) * 2016-09-30 2017-01-11 渤海大学 Automatic blade overturning mechanical arm for shutter vehicle
CN106348220A (en) * 2015-10-22 2017-01-25 哈尔滨龙海特机器人科技有限公司 Connecting structure for hoisting of automatic tread collection device
CN106781089A (en) * 2016-10-20 2017-05-31 北京海天鑫创信息技术有限公司 The self-service delivery apparatus of resident identification card
CN106827603A (en) * 2017-01-13 2017-06-13 大楚神驰车轮股份有限公司 Steel ring automatic grabbing device is used in a kind of wheel production
CN107139175A (en) * 2017-06-29 2017-09-08 惠州华阳通用电子有限公司 One kind takes disk apparatus and its control system and method automatically

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5201630A (en) * 1984-09-07 1993-04-13 Sony Corporation Industrial robot with servo system
CN201998170U (en) * 2010-11-17 2011-10-05 桂林橡胶机械厂 Rack-driving tire-gripping device for tire vulcanizer
CN102320471A (en) * 2011-09-06 2012-01-18 青岛双星橡塑机械有限公司 Tire unloading manipulator and lifting type tire unloading device for tire vulcanizer
CN202344727U (en) * 2011-12-07 2012-07-25 桂林橡胶机械厂 Tire mounting device of tire forming vulcanizer
CN202572745U (en) * 2012-05-15 2012-12-05 青岛双星橡塑机械有限公司 Manipulator device of double-mould vulcanizing machine
CN103273501A (en) * 2013-06-05 2013-09-04 青岛双星橡塑机械有限公司 Positioning mechanism of tire detaching manipulator of vulcanizing machine
CN203919052U (en) * 2014-06-18 2014-11-05 青岛双星橡塑机械有限公司 Tire servo manipulator

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5201630A (en) * 1984-09-07 1993-04-13 Sony Corporation Industrial robot with servo system
CN201998170U (en) * 2010-11-17 2011-10-05 桂林橡胶机械厂 Rack-driving tire-gripping device for tire vulcanizer
CN102320471A (en) * 2011-09-06 2012-01-18 青岛双星橡塑机械有限公司 Tire unloading manipulator and lifting type tire unloading device for tire vulcanizer
CN202344727U (en) * 2011-12-07 2012-07-25 桂林橡胶机械厂 Tire mounting device of tire forming vulcanizer
CN202572745U (en) * 2012-05-15 2012-12-05 青岛双星橡塑机械有限公司 Manipulator device of double-mould vulcanizing machine
CN103273501A (en) * 2013-06-05 2013-09-04 青岛双星橡塑机械有限公司 Positioning mechanism of tire detaching manipulator of vulcanizing machine
CN203919052U (en) * 2014-06-18 2014-11-05 青岛双星橡塑机械有限公司 Tire servo manipulator

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106348220A (en) * 2015-10-22 2017-01-25 哈尔滨龙海特机器人科技有限公司 Connecting structure for hoisting of automatic tread collection device
CN106348220B (en) * 2015-10-22 2018-09-25 哈尔滨龙海特机器人科技有限公司 Collect the connection structure of equipment lifting automatically for tyre surface
CN106313070A (en) * 2016-09-30 2017-01-11 渤海大学 Automatic blade overturning mechanical arm for shutter vehicle
CN106313070B (en) * 2016-09-30 2019-10-08 渤海大学 A kind of automobile-used automatic turning leaf manipulator of blinds
CN106276245A (en) * 2016-10-14 2017-01-04 昆山艾博机器人股份有限公司 A kind of Multifunctional hub Handling device
CN106781089A (en) * 2016-10-20 2017-05-31 北京海天鑫创信息技术有限公司 The self-service delivery apparatus of resident identification card
CN106827603A (en) * 2017-01-13 2017-06-13 大楚神驰车轮股份有限公司 Steel ring automatic grabbing device is used in a kind of wheel production
CN106827603B (en) * 2017-01-13 2019-01-11 大楚神驰车轮股份有限公司 A kind of wheel production steel ring automatic grabbing device
CN107139175A (en) * 2017-06-29 2017-09-08 惠州华阳通用电子有限公司 One kind takes disk apparatus and its control system and method automatically

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Address after: 266400 88 Gang Xing Road, POI Town, Huangdao District, Qingdao, Shandong

Patentee after: Qingdao Shuangxing Equipment Manufacturing Co.,Ltd.

Address before: No.768, Taishan East Road, Huangdao District, Qingdao City, Shandong Province

Patentee before: QINGDAO DOUBLESTAR RUBBER & PLASTIC MACHINERY Co.,Ltd.

CP03 Change of name, title or address
CP01 Change in the name or title of a patent holder

Address after: 266400 88 Gang Xing Road, POI Town, Huangdao District, Qingdao, Shandong

Patentee after: Qingdao Hailang Intelligent Equipment Co.,Ltd.

Address before: 266400 88 Gang Xing Road, POI Town, Huangdao District, Qingdao, Shandong

Patentee before: Qingdao Shuangxing Equipment Manufacturing Co.,Ltd.

CP01 Change in the name or title of a patent holder