CN106827603B - A kind of wheel production steel ring automatic grabbing device - Google Patents
A kind of wheel production steel ring automatic grabbing device Download PDFInfo
- Publication number
- CN106827603B CN106827603B CN201710024857.0A CN201710024857A CN106827603B CN 106827603 B CN106827603 B CN 106827603B CN 201710024857 A CN201710024857 A CN 201710024857A CN 106827603 B CN106827603 B CN 106827603B
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- CN
- China
- Prior art keywords
- motor
- steel ring
- clamping jaw
- grabbing device
- platform sling
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
- B29D30/00—Producing pneumatic or solid tyres or parts thereof
- B29D30/0016—Handling tyres or parts thereof, e.g. supplying, storing, conveying
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
- B29D30/00—Producing pneumatic or solid tyres or parts thereof
- B29D30/0016—Handling tyres or parts thereof, e.g. supplying, storing, conveying
- B29D2030/0044—Handling tyre beads, e.g., storing, transporting, transferring and supplying to the toroidal support or to the drum
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to grasping mechanism technical fields, especially a kind of wheel production steel ring automatic grabbing device, including column, the both ends of the column are separately fixed on the bottom surface and crossbeam in workshop, platform sling is rotatably equipped on the column, the both ends of the platform sling are respectively equipped with horizontal drive mechanism and counterweight, and the horizontal drive mechanism is connected with grasping mechanism by electric telescopic rod, it is additionally provided with rotary drive mechanism and control box on the platform sling, is equipped with PLC controller and power interface in the control box；Directly the steel ring on conveyer belt can be grabbed by grasping mechanism, it is easy to use without auxiliary mould, and steel ring can be transported to designated position and put down, manpower is saved, and grab steel ring caused by steel ring avoids because of race deformation by the way of clamping inner ring and scrap.
Description
Technical field
The present invention relates to grabbing device technical field more particularly to a kind of wheel production steel ring automatic grabbing devices.
Background technique
During tyres for passenger cars production molding, it is often necessary to carry and steel ring is placed on designated position to steel ring
Specified operation is carried out, is all to use upper steel ring by hand in the process of tyres for passenger cars molding at present, Lap Time degree is slow in craft, and is also easy to
Steel ring is run into, the full automation that cannot achieve tire building, labor intensive and working hour are caused, production efficiency is low, is produced into
This height.
Summary of the invention
The purpose of the present invention is to solve existing in the prior art to be unable to automatic transporting, pick and place the shortcomings that steel ring, and mention
A kind of wheel production steel ring automatic grabbing device out.
To achieve the goals above, present invention employs following technical solutions:
A kind of wheel production steel ring automatic grabbing device is designed, including column, the both ends of the column are separately fixed at
On the bottom surface in workshop and crossbeam, platform sling is rotatably equipped on the column, the both ends of the platform sling are respectively equipped with horizontal drive machine
Structure and counterweight, the horizontal drive mechanism are connected with grasping mechanism by electric telescopic rod, and rotation is additionally provided on the platform sling and is driven
Motivation structure and control box, the control box is interior to be equipped with PLC controller and power interface；
The grasping mechanism includes mounting plate, and the installation board ends are fixed on electric expansion boom end, the mounting plate
It is equipped with first motor, the mounting plate is connected with chassis by the first guide rail, is set with the first sliding block on first guide rail,
The first motor is connect by the first reciprocal lead screw with the first sliding block, and first sliding block is hinged at there are four clamping jaw,
The tray bottom is equipped with infrared distance measuring sensor, and the side on the chassis is set there are four sliding rail, the sliding rail end face and side
Face is equipped with the opening of strip, and two openings are mutually perpendicular to, and slide bar, the folder are installed in the opening of the sliding rail side
Pawl is installed in the opening of sliding rail end face, and the opening of strip also is provided on the clamping jaw, and the slide bar is also installed on clamping jaw
In opening；
The first motor and electric telescopic rod are electrically connected with PLC controller, and PLC controller is electrically connected with power interface
It connects.
Preferably, the horizontal drive mechanism includes the oblong openings being arranged on platform sling, and the both ends of oblong openings are set
There is first support, connected between two first supports by the second guide rail, be set with the second sliding block on second guide rail,
Second motor is installed, second motor is connected by the second reciprocal lead screw and the second sliding block in one of them described first support
It connects, the electric telescopic rod is located at the second slider bottom, and second motor is electrically connected with PLC controller.
Preferably, the rotary drive mechanism includes the casing being located on platform sling and the driven gear that is located on column, institute
It states and is equipped with second support in casing, shaft is equipped with by bearing in the second support, the both ends of shaft are respectively equipped with driving
Gear and pinion, the pinion are engaged with driven gear, and motor mount, motor installation are additionally provided in the bottom of shell
Third motor is installed, the end of the third motor is fixed with transmission gear, and the transmission gear is nibbled with driving gear on seat
It closes, the control box is mounted on the corner of casing, and the third motor is electrically connected with PLC controller.
Preferably, the clamping jaw is arc strip, and the end of clamping jaw turn down outward in hook-shaped, at the bill of clamping jaw by turn
Axis is equipped with idler wheel.
Preferably, the clamping jaw includes the clamping jaw main body of arc strip, and clamping jaw body end is equipped with one by shaft
The bill of movable hook, movable hook is equipped with idler wheel by shaft, and tension spring is connected between movable hook and clamping jaw main body, activity
Hook is equipped with limit opening at shaft, and clamping jaw main body is set in limit opening there are two positioning pin.
Preferably, the platform sling bottom is connected with control panel by conducting wire, and the control panel includes five control buttons, institute
It states control button to connect to power supply by conducting wire, the first motor, the second motor and third motor are pressed with a control respectively
Button electrical connection, the electric telescopic rod is just connecing on a control button, reversal connection is on a control button.
Preferably, conveyer belt is located at below grasping mechanism, and conveyer belt is equipped with optoelectronic switch.
A kind of wheel production steel ring automatic grabbing device proposed by the present invention, beneficial effect are: passing through grasping mechanism
Directly the steel ring on conveyer belt can be grabbed, it is easy to use without auxiliary mould, and steel ring can be transported to specified
Position is put down, and manpower is saved, and is grabbed steel ring caused by steel ring avoids because of race deformation by the way of clamping inner ring and scrapped.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that steel ring automatic grabbing device is used in a kind of wheel production proposed by the present invention；
Fig. 2 is a kind of structural representation of the grasping mechanism of wheel production steel ring automatic grabbing device proposed by the present invention
Figure；
Fig. 3 is a kind of structural schematic diagram on the chassis of wheel production steel ring automatic grabbing device proposed by the present invention；
Fig. 4 is that a kind of structure of the horizontal drive mechanism of wheel production steel ring automatic grabbing device proposed by the present invention is shown
It is intended to；
Fig. 5 is that a kind of structure of the rotary drive mechanism of wheel production steel ring automatic grabbing device proposed by the present invention is shown
It is intended to；
Fig. 6 is a kind of the first structural representation of the clamping jaw of wheel production steel ring automatic grabbing device proposed by the present invention
Figure；
Fig. 7 is a kind of second of structural representation of the clamping jaw of wheel production steel ring automatic grabbing device proposed by the present invention
Figure.
In figure: platform sling 1, horizontal drive mechanism 2, rotary drive mechanism 3, counterweight 4, column 5, control panel 6, optoelectronic switch 7,
Conveyer belt 8, grasping mechanism 9, electric telescopic rod 10, mounting plate 11, clamping jaw 12, chassis 13, the first reciprocal lead screw 14, the first sliding block
15, the first guide rail 16, first motor 17, slide bar 18, sliding rail 19, idler wheel 20, the second guide rail 21, the second sliding block 22, the second motor
23, the second reciprocal lead screw 24, first support 25, control box 26, casing 27, third motor 28, transmission gear 29, driving gear
30, second support 31, pinion 32, driven gear 33.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-6, a kind of wheel production steel ring automatic grabbing device, including column 5, the both ends of column 5 are solid respectively
It is scheduled on the bottom surface and crossbeam in workshop, platform sling 1 is rotatably equipped on column 5, the both ends of platform sling 1 are respectively equipped with horizontal drive mechanism
2 and counterweight 4, horizontal drive mechanism 2 is connected with grasping mechanism 9 by electric telescopic rod 10, is additionally provided with rotary driving machine on platform sling 1
Structure 3 and control box 26, control box 26 is interior to be equipped with PLC controller and power interface；Horizontal drive mechanism 2 adjusts grasping mechanism 9
Horizontal position, the steel ring after crawl is transferred to by the rotation of rotary drive mechanism 3 needs set-down location, and PLC can be Siemens S7-
400 type PLC.
11 both ends of mounting plate are fixed on 10 end of electric telescopic rod, and mounting plate 11 is equipped with first motor 17, mounting plate 11
It is connected with chassis 13 by the first guide rail 16, the first sliding block 15 is set on the first guide rail 16, first motor 17 is past by first
Multifilament thick stick 14 is connect with the first sliding block 15, and the first sliding block 15 is hinged at there are four clamping jaw 12, and 13 bottom of chassis is equipped with infrared
Line distance measuring sensor, the side on chassis 13 are set there are four sliding rail 19, and 19 end face of sliding rail and side are equipped with the opening of strip, and
Two openings are mutually perpendicular to, and slide bar 18 is installed in the opening of 19 side of sliding rail, and clamping jaw 12 is installed on the opening of 19 end face of sliding rail
It is interior, the opening of strip also is provided on clamping jaw 12, slide bar 18 is also installed in the opening of clamping jaw 12, and clamping jaw 12 is arc strip,
The end of clamping jaw 12 is turned down outward in hook-shaped, is equipped with idler wheel 20 by shaft at the bill of clamping jaw 12.Electric telescopic rod 10 is controlled
The height of clamping jaw 12 processed, first motor 17 drives the first sliding block 15 to move back and forth the folding for realizing clamping jaw 12, when the first sliding block 15
When being in extreme higher position, clamping jaw 12 is shunk together so as to the inner ring for being put into steel ring, when the first sliding block 15 is in lowest order, clamping jaw
13 open, and to block the crawl that steel ring realizes steel ring, chassis 13 is equipped with infrared distance measuring sensor so as to more accurate
Positioning, idler wheel 20 prevent bill from scratching steel ring.
First motor 17 and electric telescopic rod 10 are electrically connected with PLC controller, and PLC controller is electrically connected with power interface
It connects.
Horizontal drive mechanism 2 includes the oblong openings being arranged on platform sling 1, and the both ends of oblong openings are equipped with first support
25, it is connected by the second guide rail 21 between two first supports 25, is set with the second sliding block 22 on the second guide rail 21, one of them
Second motor 23 is installed, the second motor 23 is connect by the second reciprocal lead screw 24 with the second sliding block 22, electricity in first support 25
Dynamic telescopic rod 10 is located at 22 bottom of the second sliding block, and the second motor 23 is electrically connected with PLC controller.Second motor 23 drives second to slide
Block 22 moves reciprocatingly to control the horizontal position of grasping mechanism 9.
Rotary drive mechanism 3 includes the casing 27 being located on platform sling 1 and the driven gear 33 being located on column 5, casing 27
It is interior to be equipped with second support 31, shaft is equipped with by bearing in second support 31, the both ends of shaft, which are respectively equipped with, drives gear 30
With pinion 32, pinion 32 is engaged with driven gear 33, is additionally provided with motor mount in 27 bottom of casing, on motor mount
Third motor 28 is installed, the end of third motor 28 is fixed with transmission gear 29, and transmission gear 29 is engaged with driving gear 30,
Control box 26 is mounted on the corner of casing 27, and third motor 28 is electrically connected with PLC controller.Because driven gear 33 is fixed on vertical
On column 5, second support 31 is fixed on casing 27, and third motor 28 rotates, and passes through the biography of transmission gear 29 and driving gear 30
It leads, so that platform sling 1 be driven to rotate around column 5.Steel ring is transferred on designated position after grasping mechanism 9 grabs steel ring in this way
Steel ring is put down in side, the then movement of grasping mechanism 9.
1 bottom of platform sling is connected with control panel 6 by conducting wire, and control panel 6 includes five control buttons, and control button is by leading
Line connects to power supply, and first motor 17, the second motor 23 and third motor 28 are electrically connected with a control button respectively, electronic to stretch
Contracting bar 10 is just connecing on a control button, reversal connection is on a control button.Five control buttons respectively correspond a motor
Starting or electric telescopic rod 10 elongate or shorten, may be implemented the manual operation of whole device by control panel 6.
Conveyer belt 8 is located at 9 lower section of grasping mechanism, and conveyer belt 8 is equipped with optoelectronic switch 7.The communicated band 8 of steel ring conveys, when
Conveyer belt 8 stops conveying when encountering optoelectronic switch 7, and steel ring is parked in 9 lower section of grasping mechanism.
Referring to Fig. 7, as another preferred embodiment of the invention, unique difference with a upper embodiment is that clamping jaw 12 wraps
The clamping jaw main body of bracket strip, clamping jaw body end are equipped with a movable hook by shaft, and the bill of movable hook is by turning
Axis is equipped with idler wheel 20, and tension spring is connected between movable hook and clamping jaw main body, and movable hook is equipped with limit at shaft and opens
Mouthful, clamping jaw main body is set in limit opening there are two positioning pin.Movable hook is tightened under the pulling force of spring, and such clamping jaw 12 can be with
Receive tightlier to be suitble to the smaller steel ring of inner ring.Two positioning pins play the purpose of limitation movable hook rotation, respectively correspond clamping
The positioning under positioning and open configuration under state.
Workflow: steel ring is transported to the lower section of grasping mechanism 9, electric telescopic rod 10 and horizontal drive machine by conveyer belt 8
The control grasping mechanism 9 of structure 2, which moves down, grabs steel ring, and steel ring is moved to specified station by rotary drive mechanism 3 later, crawl
Steel ring unclamps in mechanism 9, realizes automatically grabbing and conveying for steel ring.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of wheel production steel ring automatic grabbing device, including column (5), it is characterised in that: the both ends of the column (5)
It is separately fixed on the bottom surface and crossbeam in workshop, is rotatably equipped with platform sling (1) on the column (5), the both ends of the platform sling (1)
It is respectively equipped with horizontal drive mechanism (2) and counterweight (4), the horizontal drive mechanism (2) is connected with by electric telescopic rod (10)
Grasping mechanism (9) is additionally provided with rotary drive mechanism (3) and control box (26) on the platform sling (1), and the control box (26) is interior to be set
There are PLC controller and power interface；
The grasping mechanism (9) includes mounting plate (11), and mounting plate (11) both ends are fixed on electric telescopic rod (10) end,
The mounting plate (11) is equipped with first motor (17), and the mounting plate (11) is connected with chassis by the first guide rail (16)
(13), it is set with the first sliding block (15) on first guide rail (16), the first motor (17) passes through the first reciprocal lead screw
(14) it is connect with the first sliding block (15), first sliding block (15) is hinged at there are four clamping jaw (12), the chassis (13)
Bottom is equipped with infrared distance measuring sensor, and the side of the chassis (13) is set there are four sliding rail (19), sliding rail (19) end face
It is equipped with the opening of strip with side, and two openings are mutually perpendicular to, is installed with cunning in the opening of sliding rail (19) side
Bar (18), the clamping jaw (12) are installed in the opening of sliding rail (19) end face, also are provided with opening for strip on the clamping jaw (12)
Mouthful, the slide bar (18) is also installed in the opening of clamping jaw (12)；
The first motor (17) and electric telescopic rod (10) are electrically connected with PLC controller, PLC controller and power interface electricity
Connection.
2. a kind of wheel production steel ring automatic grabbing device according to claim 1, it is characterised in that: the horizontal drive
Motivation structure (2) includes the oblong openings being arranged on platform sling (1), and the both ends of oblong openings are equipped with first support (25), and two
It is connected between the first support (25) by the second guide rail (21), is set with the second sliding block on second guide rail (21)
(22), it is equipped with the second motor (23) on one of them described first support (25), second motor (23) is past by second
Multifilament thick stick (24) is connect with the second sliding block (22), and the electric telescopic rod (10) is located at the second sliding block (22) bottom, and described second
Motor (23) is electrically connected with PLC controller.
3. a kind of wheel production steel ring automatic grabbing device according to claim 1, it is characterised in that: the rotation is driven
Motivation structure (3) includes the casing (27) being located on platform sling (1) and the driven gear (33) being located on column (5), the casing
(27) second support (31) are equipped in, shaft are equipped with by bearing on the second support (31), the both ends of shaft are set respectively
There are driving gear (30) and pinion (32), the pinion (32) is engaged with driven gear (33), casing (27) bottom
It is inside additionally provided with motor mount, is equipped on motor mount third motor (28), the end of the third motor (28) is fixed
Have transmission gear (29), the transmission gear (29) is engaged with driving gear (30), and the control box (26) is mounted on casing
(27) corner, the third motor (28) are electrically connected with PLC controller.
4. a kind of wheel production steel ring automatic grabbing device according to claim 1, it is characterised in that: the clamping jaw
(12) be arc strip, the end of clamping jaw (12) turn down outward be in it is hook-shaped, rolling is equipped with by shaft at the bill of clamping jaw (12)
It takes turns (20).
5. a kind of wheel production steel ring automatic grabbing device according to claim 1, it is characterised in that: the clamping jaw
(12) include arc strip clamping jaw main body, clamping jaw body end is equipped with a movable hook, the bill of movable hook by shaft
Idler wheel (20) are installed by shaft, tension spring are connected between movable hook and clamping jaw main body, movable hook is set at shaft
There is a limit opening, clamping jaw main body sets that there are two positioning pins in limit opening.
6. a kind of wheel production steel ring automatic grabbing device according to claim 1, it is characterised in that: the platform sling
(1) bottom is connected with control panel (6) by conducting wire, and the control panel (6) includes five control buttons, and the control button passes through
Conducting wire connects to power supply, the first motor (17), the second motor (23) and third motor (28) respectively with a control button
Electrical connection, the electric telescopic rod (10) is just connecing on a control button, reversal connection is on a control button.
7. a kind of wheel production steel ring automatic grabbing device according to claim 1, it is characterised in that: conveyer belt (8)
It is located at below grasping mechanism (9), conveyer belt (8) is equipped with optoelectronic switch (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710024857.0A CN106827603B (en) | 2017-01-13 | 2017-01-13 | A kind of wheel production steel ring automatic grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710024857.0A CN106827603B (en) | 2017-01-13 | 2017-01-13 | A kind of wheel production steel ring automatic grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106827603A CN106827603A (en) | 2017-06-13 |
| CN106827603B true CN106827603B (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710024857.0A Active CN106827603B (en) | 2017-01-13 | 2017-01-13 | A kind of wheel production steel ring automatic grabbing device |
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