CN107089510A - A kind of Zhuan Long robots - Google Patents
A kind of Zhuan Long robots Download PDFInfo
- Publication number
- CN107089510A CN107089510A CN201710523975.6A CN201710523975A CN107089510A CN 107089510 A CN107089510 A CN 107089510A CN 201710523975 A CN201710523975 A CN 201710523975A CN 107089510 A CN107089510 A CN 107089510A
- Authority
- CN
- China
- Prior art keywords
- calvus
- tire
- robot
- intermediate link
- arm
- 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.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000010276 construction Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000004073 vulcanization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Tyre Moulding (AREA)
Abstract
A kind of Zhuan Long robots of the present invention are related to tire manufacturing art, the more particularly to transhipment of finished tire, specifically related to a kind of Zhuan Long robots, including robot base, intermediate link arm, robot arm and tire clamping manipulator, the robot base, intermediate link arm, robot arm, tire clamping manipulator rotate connection successively, and the robot base, intermediate link arm, robot arm, tire clamping manipulator are connected with a servomotor；The tire clamping manipulator includes two calvus servomotors being oppositely arranged and drives two calvus close to each other on guider or be located remotely from each other.The present invention is simple in construction, automaticity is high, realize that tire clamps the adjustment of position of manipulator using the robot base, intermediate link arm and robot arm that are rotatedly connected successively, and the transhipment of finished tire is realized using tire clamping manipulator, production efficiency is greatly improved, hand labor intensity is reduced.
Description
Technical field
The present invention relates to the transhipment of tire manufacturing art, more particularly to finished tire, and in particular to a kind of Zhuan Long robots.
Background technology
Tire production line is mainly comprising processes, the finished product wheel after detection such as dispensing, part, shaping, vulcanization and detection storages
Tire needs to carry out carrying stacking, de-stacking, the operation such as cage is filled, during current tire dress cage during entering library storage to outbound of delivering
Complete many specifications using manual type mostly to sort, its is less efficient, and personnel labor intensity is big, when tire amount is big, makes
It is too high into human cost, it is particularly artificial to participate in causing faulty operation probability of a relatively high, and easily occur unsafe incidents,
There is potential safety hazard.
The content of the invention
In order to solve the above problems, the present invention provides a kind of simple in construction, and automaticity is high, improves production efficiency, peace
A kind of complete reliable Zhuan Long robots.
A kind of Zhuan Long robots of the present invention, including robot base, intermediate link arm, robot arm and tire clamping machine
Tool hand, the robot base, intermediate link arm, robot arm, tire clamping manipulator rotate connection, the machine successively
People's base, intermediate link arm, robot arm, tire clamping manipulator are connected with a servomotor；The tire clamping machine
Tool hand includes two calvus for being oppositely arranged, and the calvus is movably arranged on guider, and two calvus are and servo
Motor is connected, and servomotor drives two calvus close to each other on guider or is located remotely from each other.
Preferably, robot base is connected by the first rotary shaft with one end of intermediate link arm, intermediate link arm it is another
One end is connected with a middle brace rod by the second rotary shaft, and the other end of the middle brace rod passes through the 3rd rotary shaft and machine
Device human arm is connected, and the external part of the robot arm is connected by flange with tire clamping manipulator；Described first rotates
Axle, the second rotary shaft and the 3rd rotary shaft are connected with servomotor.
Preferably, tire clamping manipulator also includes support, and the support is connected by flange with robot arm, described
A leading screw is provided with support, the leading screw is connected by timing belt and belt wheel with servomotor, and the calvus passes through machinery
Pawl sliding block is connected with leading screw, and gripper sliding block is connected with threads of lead screw, and leading screw is rotated, and gripper sliding block is on leading screw along lead screw shaft
Line is moved, and is driven two calvus close to each other or is located remotely from each other.
Preferably, calvus is that anti-skidding clamping is provided with arc-shaped calvus, and the one side that is oppositely arranged of two calvus is convex
Block.
The present invention is simple in construction, and automaticity is high, using the robot base being rotatedly connected successively, intermediate link arm and
Robot arm realizes that tire clamps the adjustment of position of manipulator, and realizes turning for finished tire using tire clamping manipulator
Fortune, greatly improves production efficiency, reduces hand labor intensity.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is tire clamping manipulator schematic diagram.
Reference：1- robot bases, 2- intermediate link arms, 3- robot arms, 4- tire clamping manipulators, 5-
One rotary shaft, the rotary shafts of 6- second, the rotary shafts of 7- the 3rd, 8- middle brace rods, 9- flanges, 10- supports, 11- leading screws, 12- machines
Machinery claw sliding block, the anti-skidding clamping projections of 13-, 14- calvus.
Embodiment
A kind of Zhuan Long robots of the present invention, including robot base 1, intermediate link arm 2, robot arm 3 and rim clamp
Hold manipulator 4, the robot base 1, intermediate link arm 2, robot arm 3, tire clamping manipulator 4 company of rotation successively
Connect, the robot base 1, intermediate link arm 2, robot arm 3, tire clamping manipulator 4 are connected with a servomotor；
The tire clamping manipulator 4 includes two calvus 14 being oppositely arranged, and the calvus 14 is movably arranged on guider,
And two calvus 14 are connected with servomotor, servomotor drives two calvus 14 close to each other on guider or phase
It is mutually remote.
Robot base 1 is connected by the first rotary shaft 5 with one end of intermediate link arm 2, the other end of intermediate link arm 2
One middle brace rod 8 is connected with by the second rotary shaft 6, the other end of the middle brace rod 8 passes through the 3rd rotary shaft 7 and machine
Device human arm 3 is connected, and the external part of the robot arm 3 is connected by flange 9 with tire clamping manipulator 4；Described first
Rotary shaft 5, the second rotary shaft 6 and the 3rd rotary shaft 7 are connected with servomotor.
Tire clamping manipulator 4 also includes support 10, and the support 10 is connected by flange 9 with robot arm 3, described
A leading screw 11 is provided with support 10, the leading screw 11 is connected by timing belt and belt wheel with servomotor, and the calvus 14 is equal
It is connected by gripper sliding block 12 with leading screw 11, gripper sliding block 12 is threadedly coupled with leading screw 11, leading screw 11 is rotated, gripper is slided
Block 12 is moved on leading screw 11 along the axis of leading screw 11, is driven two calvus 14 close to each other or is located remotely from each other.
Calvus 14 is to be provided with anti-skidding clamping projection on arc-shaped calvus 14, and the one side that is oppositely arranged of two calvus 14
13, for preventing the sliding of tire occur during tire is clamped, increase the frictional force between tire and calvus 14.
In use, when in the working range of finished product tire delivery to Zhuan Long robots, servomotor driving first is rotated
Axle 5, the second rotary shaft 6, the 3rd rotary shaft 7 and flange 9 are rotated, the rotation of robot base 1, base is turned around its center axis
It is dynamic, intermediate link arm 2 is rotated around the first rotary shaft 5, middle brace rod 8 is rotated around the second rotary shaft 6, robot arm 3 is around the
Three rotary shafts 7 are rotated, and realize the position adjustment of tire clamping manipulator 4, facilitate tire clamping manipulator 4 to the folder of finished tire
Hold, then the flange 9 of tire clamping manipulator 4 is rotated, the clip position of adjustment tire clamping manipulator 4 clamps tire, now watched
Taking motor drives screw mandrel to rotate, and two calvus 14 reduce spacing up to complete hold bearing up pulley tire under the drive of gripper sliding block 12, so
The dress robotically-driven base of cage is around its center axis is rotated, intermediate link arm 2 is rotated around the first rotary shaft 5, middle brace rod 8 afterwards
Rotated around the second rotary shaft 6, robot arm 3 is rotated around the 3rd rotary shaft 7, realize tire clamping manipulator 4 to target location
Screw mandrel on adjustment, servomotor tire on the drive wheels clamping manipulator 4, which is rotated, causes calvus 14 to be located remotely from each other, and opens unlocking wheel
Tire, so as to realize the transhipment of tire.
The present invention is simple in construction, and automaticity is high, utilizes the robot base 1, intermediate link arm 2 being rotatedly connected successively
And robot arm 3 realizes the adjustment of the position of tire clamping manipulator 4, and finished tire is realized using tire clamping manipulator 4
Transhipment, greatly improve production efficiency, reduce hand labor intensity.
Claims (4)
1. a kind of Zhuan Long robots, including robot base（1）, intermediate link arm（2）, robot arm（3）And tire clamping
Manipulator（4）, it is characterised in that the robot base（1）, intermediate link arm（2）, robot arm（3）, tire clamping machine
Tool hand（4）Connection, the robot base are rotated successively（1）, intermediate link arm（2）, robot arm（3）, tire clamping machine
Tool hand（4）It is connected with a servomotor；The tire clamping manipulator（4）Including two calvus being oppositely arranged（14）, institute
State calvus（14）It is movably arranged on guider, and two calvus（14）It is connected with servomotor, servomotor driving
Two calvus（14）It is close to each other or be located remotely from each other on guider.
2. a kind of Zhuan Long robots as claimed in claim 1, it is characterised in that the robot base（1）Rotated by first
Axle（5）With intermediate link arm（2）One end be connected, intermediate link arm（2）The other end pass through the second rotary shaft（6）It is connected with one
Middle brace rod（8）, the middle brace rod（8）The other end pass through the 3rd rotary shaft（7）With robot arm（3）It is connected,
The robot arm（3）External part pass through flange（9）With tire clamping manipulator（4）It is connected；First rotary shaft
（5）, the second rotary shaft（6）And the 3rd rotary shaft（7）, flange（9）It is connected with servomotor.
3. a kind of Zhuan Long robots as claimed in claim 1, it is characterised in that the tire clamping manipulator（4）Also comprising branch
Frame（10）, the support（10）Pass through flange（9）With robot arm（3）It is connected, the support（10）On be provided with a leading screw
（11）, the leading screw（11）It is connected by timing belt and belt wheel with servomotor, the calvus（14）Pass through gripper sliding block
（12）With leading screw（11）It is connected, gripper sliding block（12）With leading screw（11）Threaded connection, leading screw（11）Rotate, gripper sliding block
（12）In leading screw（11）On along leading screw（11）Axis is moved, and drives two calvus（14）It is close to each other or be located remotely from each other.
4. a kind of Zhuan Long robots as claimed in claim 3, it is characterised in that the calvus（14）For arc-shaped calvus（14）,
And two calvus（14）Anti-skidding clamping projection is provided with the one side being oppositely arranged（13）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710523975.6A CN107089510A (en) | 2017-06-30 | 2017-06-30 | A kind of Zhuan Long robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710523975.6A CN107089510A (en) | 2017-06-30 | 2017-06-30 | A kind of Zhuan Long robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107089510A true CN107089510A (en) | 2017-08-25 |
Family
ID=59641369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710523975.6A Pending CN107089510A (en) | 2017-06-30 | 2017-06-30 | A kind of Zhuan Long robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107089510A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107379340A (en) * | 2017-09-13 | 2017-11-24 | 合肥万力轮胎有限公司 | A kind of robot removes glue production line automatically |
| CN108750614A (en) * | 2018-07-18 | 2018-11-06 | 苏州巨通自动化设备有限公司 | A kind of tire dress cage machine |
| CN113844215A (en) * | 2021-09-18 | 2021-12-28 | 山东鸥帆机器人科技有限公司 | Tire dismouting robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080128093A1 (en) * | 2006-12-01 | 2008-06-05 | Schenck Rotec Gmbh | Device for mounting a pneumatic tire onto a vehicle wheel rim |
| CN202296418U (en) * | 2011-11-03 | 2012-07-04 | 广州永康包装材料有限公司 | Stacker |
| CN203092554U (en) * | 2012-12-14 | 2013-07-31 | 深圳市科陆电子科技股份有限公司 | Robot clamping jaw device |
| CN106078713A (en) * | 2016-07-28 | 2016-11-09 | 平湖拓伟思自动化设备有限公司 | A kind of palletizing mechanical arm for storage |
| CN205766222U (en) * | 2016-07-07 | 2016-12-07 | 上海兰众自动化设备有限公司 | A kind of tire stacker crane device people's clamping device |
| CN207209367U (en) * | 2017-06-30 | 2018-04-10 | 合肥万力轮胎有限公司 | A kind of Zhuan Long robots |
-
2017
- 2017-06-30 CN CN201710523975.6A patent/CN107089510A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080128093A1 (en) * | 2006-12-01 | 2008-06-05 | Schenck Rotec Gmbh | Device for mounting a pneumatic tire onto a vehicle wheel rim |
| CN202296418U (en) * | 2011-11-03 | 2012-07-04 | 广州永康包装材料有限公司 | Stacker |
| CN203092554U (en) * | 2012-12-14 | 2013-07-31 | 深圳市科陆电子科技股份有限公司 | Robot clamping jaw device |
| CN205766222U (en) * | 2016-07-07 | 2016-12-07 | 上海兰众自动化设备有限公司 | A kind of tire stacker crane device people's clamping device |
| CN106078713A (en) * | 2016-07-28 | 2016-11-09 | 平湖拓伟思自动化设备有限公司 | A kind of palletizing mechanical arm for storage |
| CN207209367U (en) * | 2017-06-30 | 2018-04-10 | 合肥万力轮胎有限公司 | A kind of Zhuan Long robots |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107379340A (en) * | 2017-09-13 | 2017-11-24 | 合肥万力轮胎有限公司 | A kind of robot removes glue production line automatically |
| CN108750614A (en) * | 2018-07-18 | 2018-11-06 | 苏州巨通自动化设备有限公司 | A kind of tire dress cage machine |
| CN113844215A (en) * | 2021-09-18 | 2021-12-28 | 山东鸥帆机器人科技有限公司 | Tire dismouting robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170825 |
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| RJ01 | Rejection of invention patent application after publication |