CN106142114B - Triple speed tire captures robot - Google Patents
Triple speed tire captures robot Download PDFInfo
- Publication number
- CN106142114B CN106142114B CN201610602016.9A CN201610602016A CN106142114B CN 106142114 B CN106142114 B CN 106142114B CN 201610602016 A CN201610602016 A CN 201610602016A CN 106142114 B CN106142114 B CN 106142114B
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- China
- Prior art keywords
- belt
- driving disc
- guide rail
- rocking bar
- pedestal
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- 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.)
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- 230000008859 change Effects 0.000 claims abstract description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 208000014446 corneal intraepithelial dyskeratosis-palmoplantar hyperkeratosis-laryngeal dyskeratosis syndrome Diseases 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims 1
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Tires In General (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to mechanical engineering technical fields more particularly to triple speed tire to capture robot.It includes lifting part and gripping portion, and the lifting part includes two groups of symmetrically arranged guide rail chains, and guide rail chain described in every group includes at least three section the linear guides, and the gripping portion is fixedly connected in the lowermost the linear guide of the lifting part.The present invention has greatly expanded vertical direction distance of stretch out and draw back in such a way that three groups of the linear guides are combined, and improves stretching speed, and can capture the tire of different inner diameters, does not need to change grasping jig.
Description
Technical field
The present invention relates to mechanical engineering technical fields more particularly to triple speed tire to capture robot.
Background technology
Tire crawl robot can capture tire, stacking and destacking operate, and be suitable for the life of modern plant
Production demand.
Existing tire crawl robot upholds that length is shorter, and catching robot uses two groups of servo systems in the vertical direction
System and pneumatic system, it is of high cost, efficiency is low, grasping jig is needed replacing when capturing the tire of different-diameter, it is extremely inconvenient.
Invention content
The technical problem to be solved by the present invention is to how overcome the deficiencies of the prior art and provide a kind of triple speed tire crawl
Robot.
The present invention to achieve the above object the technical solution adopted is that：Triple speed tire captures robot, including lifting unit
Divide and gripping portion, the lifting part include two groups of symmetrically arranged guide rail chains, guide rail chain described in every group includes at least three sections
The linear guide, the gripping portion are fixedly connected in the lowermost the linear guide of the lifting part, the lifting part
Upper end be additionally provided with the belt pulley with belt, be located at two groups described between guide rail chain, the belt pulley by belt be connected
The babinet upper end connection of protective effect is formed outside the gripping portion.
Further, the guide rail chain includes three section the linear guides, and the linear guide is equipped with sliding block, wherein a section straight line
Remaining two section the linear guide is connected to both ends end to end, the both ends of the linear guide by guide rail as intermediate by sliding block
It is additionally provided with the mechanical position limitation block for sliding range for limiting the sliding block, I-shaped constraining rod is additionally provided between the guide rail chain
Part, in the guide rail chain in the lowermost the linear guide, the degree of freedom between two groups of guide rail chains constrains carry.
Further, the gripping portion includes pedestal, paw, and the paw includes driving disc, is uniformly distributed and is hinged
Three groups of double rocker mechanisms at the driving disc edge, the double rocker mechanism include three components, and respectively head end passes through
First rocking bar, head end and the first rocking bar tail end hinged second connecting rod of the bolted splice in the driving disc, head end
Connected third rocking bar, the tail end of the third rocking bar are equipped with idler wheel with the tail end of the second connecting rod；
The driving disc is mounted on the center of the pedestal, is located at the one side of the pedestal, wherein described double
The first rocking bar and second connecting rod in rocker device are distributed in the same side with the driving disc, and the third rocking bar is located at described
The another side of pedestal, and be connected with the second connecting rod by the axis pin across the pedestal；
The left and right sides of the pedestal is equipped with connecting lateral plate, the linear guide for connecting the lifting part lower end；
The upper center of the babinet is equipped with belt wheel, and the belt is connected on belt wheel.
Further, catching robot is formed between double rocker mechanism described in the driving disc and three groups, works as driving disc
When turning an angle, catching robot turns an angle, to hold up tire from its inside.
Further, deep groove ball bearing and thrust shaft are installed on the bolt between first rocking bar and the driving disc
It holds, connects to form hinge arrangement by axis pin between the second connecting rod and the first rocking bar, the second connecting rod and third rocking bar
Between by install additional flat key axis pin be fixedly connected.
Further, it is connected with servo motor in the driving disc.
Further, speed reducer, speed reducer output shaft and the drive are equipped between the driving disc and the servo motor
It is attached by shaft coupling of the MSPC-40-40-SS two panels clamped-in style with keyway between turn disk.
Further, the belt on the belt pulley is connected to the center position of top surface on the pedestal vertically, close
Belt hold roller is equipped on the outside of belt at belt pulley, because the diameter of belt pulley becomes larger due to belt when the belt pulley being avoided to wind belt
Lateral force caused by the change in location of vertical direction.
Advantages of the present invention：
In such a way that three groups of the linear guides are combined, vertical direction distance of stretch out and draw back is had greatly expanded, improves flexible speed
Degree, and the tire of different inner diameters can be captured, do not need to change grasping jig.
Description of the drawings
The catching robot structural schematic diagram that Fig. 1 double rocker mechanisms of the present invention and driving disc are constituted.
Fig. 2 gripping portion structural schematic diagrams of the present invention.
Fig. 3 overall structure of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings, carry out the structure setting and operation logic that the present invention will be described in detail, details are as follows：
Triple speed tire captures robot, including lifting part 1 and gripping portion 2, lifting part 1 are symmetrically set including two groups
The guide rail chain 11 set, guide rail chain 11 include three section the linear guides 111, and gripping portion 2 is fixedly connected on the bottom of lifting part 1
The linear guide 111 on, the upper end of lifting part 1 is additionally provided with the belt pulley 3 with belt 31, be located at two groups of guide rail chains 11 it
Between.
The linear guide 111 is equipped with sliding block 112, wherein a section the linear guide 111 is used as intermediate by remaining two section straight line
Guide rail 111 is connected to both ends end to end by sliding block 112, and the both ends of the linear guide 111 are additionally provided with to be slided for limiting sliding block 112
The mechanical position limitation block 113 of line range, is additionally provided with I-shaped constraining member 114 between guide rail chain 11, carry in guide rail chain 11 most
In the linear guide 111 of lower end, the degree of freedom between two groups of guide rail chains 11 constrains.
Gripping portion 2 includes pedestal 21, paw 22, and paw 22 includes driving disc 23, is uniformly distributed and is hinged on driving
Three groups of double rocker mechanisms 24 at 23 edge of turntable, double rocker mechanism 24 include three components, and respectively head end passes through bolted splice
The first rocking bar 241 (can produce relative rotation between the first rocking bar 241 and driving disc 23) in the driving disc 23,
Head end and the hinged second connecting rod 242 of 241 tail end of the first rocking bar, the head end third connected with the tail end of the second connecting rod 242
The tail end of rocking bar 243, third rocking bar 243 is equipped with idler wheel 244；
Driving disc 23 is mounted on the center of pedestal 21, is located at the upper top surface of pedestal 21, wherein double rocker mechanism 24
In the first rocking bar 241 and second connecting rod 242 and driving disc 23 be distributed in the same side, third rocking bar 243 is located at pedestal 21
Another bottom surface, and be connected with second connecting rod 242 by the axis pin across pedestal 21；
The left and right sides of pedestal 21 is equipped with connecting lateral plate 25, the linear guide 111 for connecting 1 lower end of lifting part；
The belt pulley 3 passes through belt 31 and the babinet upper end for being connected in 2 outside formation protective effect of the gripping portion
Connection is equipped with belt wheel to reduce the lateral force generated to gripping portion because belt position is deflected in the upper center of babinet
26, and belt 31 is made to be connected with the belt wheel 26.
Catching robot is formed between double rocker mechanism 24 described in driving disc 23 and three groups, when driving disc 23 rotates one
When determining angle, catching robot turns an angle, to hold up tire from its inside.
Deep groove ball bearing and thrust bearing are installed on shank of bolt between first rocking bar 241 and driving disc 23, it is described
It connects to form hinge arrangement by axis pin between second connecting rod 242 and the first rocking bar 241, second connecting rod 242 and third rocking bar 243
Between by install additional flat key axis pin be fixedly connected.
It is connected with servo motor in driving disc 23.
It is equipped with speed reducer between driving disc 23 and servo motor, passes through between speed reducer output shaft and driving disc 23
Shaft coupling of the MSPC-40-40-SS two panels clamped-in style with keyway is attached.
Belt on belt pulley is connected to the center position of top surface on pedestal 21 vertically, in the skin at belt pulley 3
31 outside of band is equipped with belt hold roller 32, because the diameter of belt pulley 3 becomes larger due to belt when the belt pulley 3 can be avoided to wind belt 31
31 lateral forces caused by the change in location of vertical direction.
The present invention the method for operation be：Coordinated first by control the general control system of lifting part 1 and gripping portion 2 come
Driving belt pulley 3 is controlled, belt 31 is transferred, is further transferred gripping portion 2 to precalculated position, in the process, straight line is led
It is mutually coordinated between rail 111 and sliding block 112, and three groups of the linear guides 111 work at the same time, with faster speed by gripping portion
2 transfer to precalculated position, meanwhile, the mechanical position limitation block 113 in the linear guide 111, limitation sliding block 112 slides range, prevents
Sliding block 112 derails；When gripping portion 2 is lowered to precalculated position, further controlled on pedestal 21 by general control system
Servo motor, further rotate driving disc 23, the first rocking bar 241 is driven by driving disc 23, with that is, second connecting rod 242
Swing is generated, third rocking bar 243 is driven to swing, the inside groove of tire can be hooked by making it just, realize the crawl to tire；Finally lead to
The rotation of control driving belt pulley 3 is crossed, belt 31 is driven to rise, three section the linear guides 111 act on simultaneously, can be grabbed with fast lifting
Take part
Above-described embodiment simply to illustrate that the present invention technical concepts and features, it is in the art the purpose is to be to allow
Those of ordinary skill cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent changes or modifications made by the essence according to the content of present invention, should all covers within the scope of the present invention.
Claims (7)
1. triple speed tire captures robot, which is characterized in that including lifting part and gripping portion, the lifting part includes
Two groups of symmetrically arranged guide rail chains, guide rail chain described in every group include at least three section the linear guides, and the gripping portion is fixedly connected
In the lowermost the linear guide of the lifting part, the upper end of the lifting part is additionally provided with the belt pulley with belt,
Between guide rail chain described in two groups, the belt pulley is by belt and is connected in formation protective effect outside the gripping portion
Babinet upper end connection；
The guide rail chain includes three section the linear guides, and the linear guide is equipped with sliding block, wherein during a section the linear guide is used as
Remaining two section the linear guide is connected to both ends end to end by mesosome by sliding block, and the both ends of the linear guide, which are additionally provided with, to be used for
The mechanical position limitation block that the sliding block slides range is limited, I-shaped constraining member is additionally provided between the guide rail chain, carry is in institute
It states in guide rail chain in the lowermost the linear guide, the degree of freedom between two groups of guide rail chains constrains.
2. triple speed tire according to claim 1 captures robot, it is characterised in that：The gripping portion includes base
Seat, paw, the paw include driving disc, are uniformly distributed and be hinged on three groups of double rocking lever machines at the driving disc edge
Structure, the double rocker mechanism include three components, respectively head end by bolted splice first shaking in the driving disc
Bar, head end and the hinged second connecting rod of the first rocking bar tail end, the head end third connected with the tail end of the second connecting rod are shaken
The tail end of bar, the third rocking bar is equipped with idler wheel；
The driving disc is mounted on the center of the pedestal, is located at the one side of the pedestal, wherein the double rocking lever
The first rocking bar and second connecting rod in mechanism are distributed in the same side with the driving disc, and the third rocking bar is located at the pedestal
Another side, and be connected by axis pin across the pedestal and the second connecting rod；
The left and right sides of the pedestal is equipped with connecting lateral plate, the linear guide for connecting the lifting part lower end；
The upper center of the babinet is equipped with belt wheel, and the belt is connected on belt wheel.
3. triple speed tire according to claim 2 captures robot, it is characterised in that：The driving disc and three groups of institutes
It states and forms catching robot between double rocker mechanism, when driving disc turns an angle, catching robot rotates certain angle
Degree, to hold up tire from its inside.
4. triple speed tire according to claim 2 captures robot, it is characterised in that：First rocking bar and the drive
Deep groove ball bearing and thrust bearing are installed on the bolt between turn disk, pass through pin between the second connecting rod and the first rocking bar
Axis connection forms hinge arrangement, is fixedly connected between the second connecting rod and third rocking bar by installing the axis pin of flat key additional.
5. triple speed tire according to claim 2 captures robot, it is characterised in that：It is connected in the driving disc
Servo motor.
6. triple speed tire according to claim 2 captures robot, it is characterised in that：Belt on the belt pulley is perpendicular
The direct-connected center position for being connected on top surface on the pedestal is being equipped with belt hold roller on the outside of the belt at belt pulley, is avoiding institute
State belt pulley winding belt when due to the diameter of belt pulley becomes larger lateral force caused by the change in location of belt vertical direction.
7. triple speed tire according to claim 4 captures robot, it is characterised in that：The driving disc is watched with described
It takes and is equipped with speed reducer between motor, clamped by MSPC-40-40-SS two panels between speed reducer output shaft and the driving disc
Shaft coupling of the formula with keyway is attached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610602016.9A CN106142114B (en) | 2016-07-28 | 2016-07-28 | Triple speed tire captures robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610602016.9A CN106142114B (en) | 2016-07-28 | 2016-07-28 | Triple speed tire captures robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106142114A CN106142114A (en) | 2016-11-23 |
| CN106142114B true CN106142114B (en) | 2018-10-30 |
Family
ID=58060730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610602016.9A Active CN106142114B (en) | 2016-07-28 | 2016-07-28 | Triple speed tire captures robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142114B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175676B (en) * | 2017-05-19 | 2018-04-20 | 温州职业技术学院 | A kind of cylinder clamping manipulator |
| CN108789474B (en) * | 2018-05-23 | 2024-02-27 | 苏州江锦自动化科技有限公司 | Screw-type manipulator and feeding and discharging robot |
| CN109159147B (en) * | 2018-08-29 | 2020-10-27 | 宁波海迈克自动化科技有限公司 | Double-section planetary idler triple-speed mechanical arm structure |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4598942A (en) * | 1984-07-23 | 1986-07-08 | Westinghouse Electric Corp. | Force-controlled gripper with adaptive accommodation |
| DE102010019348B4 (en) * | 2010-05-05 | 2013-09-12 | Hans-Erich Maul | Planetary screw gripper |
| CN202781549U (en) * | 2012-08-31 | 2013-03-13 | 福建华橡自控技术股份有限公司 | Mechanical arm for vulcanizing machine |
| CN203359501U (en) * | 2013-05-10 | 2013-12-25 | Tcl王牌电器(惠州)有限公司 | Auxiliary discharging machine |
| CN104314342B (en) * | 2014-11-13 | 2017-07-18 | 安徽乐库智能停车设备有限公司 | A kind of jack up unit of three sections raising pattern |
| CN204382294U (en) * | 2015-01-14 | 2015-06-10 | 上海古岛自动化设备有限公司 | The flexible tyre catching apparatus of manipulator |
| CN205870574U (en) * | 2016-07-28 | 2017-01-11 | 青岛大学 | Triple speed tire snatchs robot |
-
2016
- 2016-07-28 CN CN201610602016.9A patent/CN106142114B/en active Active
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| Publication number | Publication date |
|---|---|
| CN106142114A (en) | 2016-11-23 |
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Address after: 266000 Shandong city of Qingdao province Ningxia City Road No. 308 Patentee after: Qingdao University Address before: 266071 Ningxia Road, Shandong, China, No. 308, No. Patentee before: Qingdao University |
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