CN108724168B - Tire transfer robot end effector - Google Patents
Tire transfer robot end effector Download PDFInfo
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- CN108724168B CN108724168B CN201710240760.3A CN201710240760A CN108724168B CN 108724168 B CN108724168 B CN 108724168B CN 201710240760 A CN201710240760 A CN 201710240760A CN 108724168 B CN108724168 B CN 108724168B
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- 239000012636 effector Substances 0.000 title claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 36
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000009286 beneficial effect Effects 0.000 claims description 6
- 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
- 238000009434 installation Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Tyre Moulding (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a tire handling robot end effector, which comprises a mounting flange mechanism, a guide supporting mechanism, a visual positioning system, a driving system and a signal detection system, wherein the mounting flange mechanism is arranged on the guide supporting mechanism, the visual positioning system and the driving system are both arranged on the guide supporting mechanism, a tensioning mechanism for grabbing tires is arranged on the driving system, the driving system controls the opening or closing of the tensioning mechanism, and the signal detection system is respectively arranged on the guide supporting mechanism and the tensioning mechanism. According to the tire handling device, the tire to be handled is initially positioned, and then accurately positioned by the signal detection system, so that the joint robot is guided to accurately clamp the tire, and automation and roboticization of tire handling are realized.
Description
Technical Field
The invention belongs to the technical field of tire production automation, and particularly relates to an end effector of a tire carrying robot.
Background
With the rapid development of modern industrial automation technology, many working fields of manual production and processing are replaced by industrial robots, and tire handling in an automobile production line has been gradually replaced by industrial robots as a physically heavy and repeated and tedious operation.
At present, in the field of tire production, in particular, the tire is required to be conveyed onto a tire conveying line after being taken off from a tire forming machine, because the specifications of the tire are various, the size and the dimension of the tire are greatly different, and in addition, the tire placement position sent by the forming machine each time is not fixed, so that automatic tire conveying is difficult to realize, and the task of rapidly and accurately finding the position of the tire to be conveyed through a conveying robot and confirming the specifications of the tire is urgent.
In order to realize automatic control of tire transportation by a transportation robot, a tire transportation robot is disclosed in chinese patent application (CN 104354157 a), which comprises a transportation robot body, a tire gripping device mounted on the transportation robot body, an infrared ranging sensor, and a robot controller, wherein the infrared ranging sensor is connected with the robot controller, and is used for detecting a target position in real time and transmitting position information to the robot controller; the robot controller is connected with the transfer robot body. The above-mentioned document realizes the transport to the tire through transfer robot and cylinder driven tire grabbing device, infrared range finding sensor sets up in the tire grabbing actuating mechanism front end that is located tire grabbing device terminal, although can be used to monitor tire grabbing device reaches the position of tire, realizes the snatching to the tire, but because can not guarantee tire grabbing actuating mechanism's center just to the center of tire, leads to can not be accurate to carry out the centre gripping to the tire.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problem that the clamping of the tire cannot be accurately performed in the prior art, so as to provide the end effector of the tire carrying robot capable of accurately controlling the clamping of the tire.
In order to solve the technical problems, the end effector of the tire handling robot is arranged on a mounting flange mechanism of an articulated robot and comprises a guide supporting mechanism, a visual positioning system, a driving system and a signal detection system which are arranged on the mounting flange mechanism, wherein the visual positioning system and the driving system are both arranged on the guide supporting mechanism, a tensioning mechanism for grabbing tires is arranged on the driving system, the driving system controls the opening or closing of the tensioning mechanism, and the signal detection system is respectively arranged on the guide supporting mechanism and the tensioning mechanism.
In one embodiment of the invention, the guiding and supporting mechanism comprises a mounting seat arranged at the tail end of the mounting flange mechanism, a plurality of linear guide rods fixed on the mounting seat, a tail end supporting seat fixed on the linear guide rods and opposite to the mounting seat, and an intermediate supporting seat fixed on the linear guide rods and positioned between the mounting seat and the tail end supporting seat.
In one embodiment of the invention, the visual positioning system comprises an industrial camera and a lens fixed on the industrial camera, and the industrial camera is fixed on the end support.
In one embodiment of the invention, the drive system comprises a ball screw coupled to a power unit, the ball screw being secured between the mounting block and the end support block and passing through the intermediate support block, and a drive nut being provided on the ball screw.
In one embodiment of the invention, the tensioning mechanism comprises a driving sliding block fixed on the driving nut, a first connecting rod connected with the mounting seat, a second connecting rod connected with the driving sliding block and a third connecting rod connected with the second connecting rod and parallel to the linear guide rod, and the first connecting rod is connected to the middle position of the second connecting rod through a second pin shaft.
In one embodiment of the invention, the power device comprises a servo motor arranged in the mounting flange mechanism and a speed reducer connected with the servo motor, and the speed reducer is connected with the ball screw through an elastic coupling.
In one embodiment of the present invention, the signal detection system includes an origin position sensor disposed on the mount, an origin stopper opposite to the origin position sensor, a terminal position sensor disposed on the intermediate support, and a terminal stopper opposite to the terminal position sensor, wherein the origin stopper is fixed on the driving slider, and the terminal stopper is fixed on the driving nut.
In one embodiment of the present invention, the signal detection system further comprises a radial distance sensor and an axial distance sensor, wherein the radial distance sensor is fixed on a first side of the end support, and a detection surface of the radial distance sensor faces the radial direction of the end effector, and the axial distance sensor is fixed on a second side of the end support, and a detection surface of the axial distance sensor faces the axial direction of the end effector.
In one embodiment of the invention, the signal detection system further comprises a tension sensor, wherein the tension sensor is fixed in the cavity of the third connecting rod, and a pressing sheet is arranged on the outer side surface of the third connecting rod.
In one embodiment of the invention, the mounting flange mechanism comprises a U-shaped connecting flange connected with the joint robot, a back plate fixedly connected with the U-shaped connecting flange, and a first side plate and a second side plate which are fixed on two sides of the U-shaped connecting flange, wherein the first side plate is fixedly connected with the second side plate through the back plate to form a containing cavity.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the tire handling robot end effector, the vision positioning system is used for realizing preliminary positioning of the tire to be handled, the signal detection system is used for realizing accurate clamping of the tire to be handled, accurate positioning of the tire to be handled is completed, and the clamping force of the tire is ensured through the tensioning mechanism, so that automation and roboticization of tire handling are realized.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which
FIG. 1 is a perspective view of an end effector of a tire handling robot according to the present invention;
FIG. 2 is a side view of the tire handling robot end effector of the present invention;
fig. 3 is a perspective view of a tire handling robot end effector of the present invention gripping a tire.
Reference numerals illustrate: 10-joint robot, 21-connecting flange, 22-backplate, 23-first side board, 24-second side board, 31-mount pad, 32-linear guide, 33-end support pad, 34-intermediate support pad, 35-linear bearing, 41-ball screw, 42-drive nut, 43-servo motor, 44-decelerator, 45-elastic coupling, 46-support bearing, 51-drive slider, 52-first link, 53-second link, 54-third link, 55-first pin, 56-second pin, 61-industrial camera, 62-lens, 71-origin position sensor, 72-origin stopper, 73-end position sensor, 74-end stopper, 75-radial distance sensor, 76-axial distance sensor, 77-tension sensor, 78-sheeting.
Detailed Description
Referring to fig. 1, 2 and 3, the present embodiment provides a tire handling robot end effector, which is disposed on a mounting flange mechanism of an articulated robot 10, and includes a guiding support mechanism, a visual positioning system, a driving system and a signal detection system, wherein the visual positioning system and the driving system are all disposed on the guiding support mechanism, a tensioning mechanism for grabbing a tire is disposed on the driving system, the driving system controls the opening or closing of the tensioning mechanism, and the signal detection system is respectively disposed on the guiding support mechanism and the tensioning mechanism.
The tire carrying robot end effector is arranged on a mounting flange mechanism of the joint robot 10 and comprises a guide supporting mechanism, a visual positioning system, a driving system and a signal detection system which are arranged on the mounting flange mechanism, wherein the visual positioning system is used for determining the position of a tire to be carried and sending calculated coordinate values of a center hole of the tire to be carried to the joint robot 10, so that the joint robot 10 is beneficial to controlling the end effector to move to the position above the tire to be carried, the initial positioning of the tire to be carried is realized, the visual positioning system and the driving system are both arranged on the guide supporting mechanism, a tensioning mechanism for grabbing the tire is arranged on the driving system, the opening or closing of the tensioning mechanism is controlled by the driving system, the signal detection system is respectively arranged on the guide supporting mechanism and the tensioning mechanism, the signal detection system arranged on the guide supporting mechanism is used for confirming the size of the center hole of the tire to be carried and the distance from the tire end face to the end effector, the tire to be carried is beneficial to accurately control the center of the tensioning mechanism to realize the clamping mechanism, and the accurate positioning of the tire to be carried is realized by the clamping mechanism.
The mounting flange mechanism comprises a U-shaped connecting flange 21 connected with the joint robot 10, a back plate 22 fixedly connected with the U-shaped connecting flange 21, and a first side plate 23 and a second side plate 24 which are fixed on two sides of the U-shaped connecting flange 21, wherein the first side plate 23 is fixedly connected with the second side plate 24 through the back plate 22 to form a containing cavity.
The guide supporting mechanism comprises a mounting seat 31 arranged in the accommodating cavity, a plurality of linear guide rods 32 fixed on the mounting seat 31, a tail end supporting seat 33 fixed on the linear guide rods 32 and opposite to the mounting seat 31, and an intermediate supporting seat 34 fixed on the linear guide rods 32 and positioned between the mounting seat 31 and the tail end supporting seat 33. In order to ensure uniform stress during the subsequent clamping of the tire, three linear guide rods 32 are preferably selected, and the finished product is uniformly fixed on the mounting seat 31.
The driving system comprises a ball screw 41 connected with a power device, the ball screw 41 is fixed between the mounting seat 31 and the tail end supporting seat 33 and penetrates through the middle supporting seat 34, and a driving nut 42 is arranged on the ball screw 41. The power device comprises a servo motor 43 arranged in the mounting flange mechanism and a speed reducer 44 connected with the servo motor 43, specifically, the servo motor 43 and the speed reducer 44 are both positioned in the accommodating cavity, the output end of the servo motor 43 is fixedly connected with the input end of the speed reducer 44, the output end of the speed reducer 44 is fixed at one end of the mounting seat 31, and the speed reducer 44 is connected with the ball screw 41 through an elastic coupler 45. The two ends of the ball screw 41 are respectively provided with a support bearing 46, the support bearings 46 are respectively fixed on the mounting seat 31 and the tail end support seat 33, the ball screw 41 is provided with two drive nuts 42, the drive nuts 42 are respectively arranged on the front side and the rear side of the middle support seat 34, the input end of the ball screw 41 is also fixed with a precise lock nut, and the precise lock nut is abutted against the support bearing 46.
The tensioning mechanism comprises a driving sliding block 51 fixed on the driving nut 42, a first connecting rod 52 connected with the mounting seat 31, a second connecting rod 53 connected with the driving sliding block 51, and a third connecting rod 54 connected with the second connecting rod 53 and parallel to the linear guide rod 32, wherein the first connecting rod 52 is connected to the middle position of the second connecting rod 53 through a second pin shaft 56. Specifically, two driving sliders 51 are disposed on the driving nuts 42, the driving sliders 51 are respectively fixed on the corresponding driving nuts 42 on the ball screw 41, the driving sliders 51 pass through the linear guide rod 32 and are fixed on the linear bearing 35, wherein the linear bearing 35 is fixed on the linear guide rod 32, one end of the first link 52 is connected to the mounting seat 31 through a first pin shaft 55, the other end of the first link 52 is connected to the middle position of the second link 53 through a second pin shaft 56, one end of the second link 53 is connected to the driving sliders 51 through a third pin shaft, the other end of the second link 53 is connected to the third link 54 through a fourth pin shaft, and the linear guide rod 32, the first link 52, the first pin shaft 55, the second link 53, the second pin shaft 56, the third pin shaft, the third link 54 and the fourth pin shaft form a parallel four-bar mechanism. When the driving slide block 51 moves, the second connecting rod 53 is driven to move, so that the third connecting rod 54 is driven to move, and the clamping of the tire is realized. Specifically, when the driving slider 51 moves in the direction of the mounting seat 31, the third connecting rods 54 move in the direction away from the ball screw 41, so that the plurality of third connecting rods 54 are opened outwards, and at this time, the inner hole of the tire to be conveyed can be clamped; when the driving slider 51 moves away from the mounting seat 31, the third links 54 move in the direction of the ball screw 41, so that the plurality of third links 54 retract inward, and the clamping of the inner hole of the tire is released.
The visual positioning system comprises an industrial camera 61 and a lens 62 fixed on the industrial camera 61, wherein the industrial camera 61 is fixed on the tail end supporting seat 33, the position of the tire to be conveyed can be determined through the lens 62, and the calculated coordinate value of the center hole of the tire to be conveyed is sent to the joint robot 10, so that the joint robot 10 is beneficial to controlling the tail end actuator to move to the upper side of the tire to be conveyed, and the preliminary positioning of the tire to be conveyed is realized.
The signal detection system includes an origin position sensor 71 disposed on the mounting seat 31 and an origin stopper 72 opposite to the origin position sensor 71, wherein the origin stopper 72 is fixed on the driving slider 51, when the driving slider 51 moves toward the mounting seat 31, the origin stopper 72 moves toward the origin position sensor 71 under the driving of the driving slider 51, and when the origin stopper 72 moves to contact with the origin position sensor 71, the plurality of third links 54 are opened to the maximum; the signal detection system further includes an end position sensor 73 disposed on the intermediate support seat 34 and an end stop 74 opposite to the end position sensor 73, where the end stop 74 is fixed on the drive nut 42, and when the drive nut 42 drives the drive slider 51 to move away from the mounting seat 31, the end stop 74 moves toward the end position sensor 73 under the drive of the drive slider 51, and when the end stop 74 moves to contact with the end position sensor 73, the plurality of third links 54 retract inward to a minimum state, which is defined as an initial state of the end effector. In this embodiment, the origin stopper 72 and the end stopper 74 are both T-shaped, the end position sensor 73 is located on an end sensor seat, the end sensor seat is disposed on the intermediate support seat 34, the end stopper 74 is fixed on an end stopper seat, and the end stopper seat is fastened on the driving nut 42.
The signal detection system further comprises a radial distance sensor 75 and an axial distance sensor 76, wherein the radial distance sensor 75 is fixed on the first side surface of the end supporting seat 33, and the detection surface of the radial distance sensor 75 is opposite to the radial direction of the end effector and is used for sensing the radial distance from the end effector to the tire to be conveyed, namely the distance from the end effector to the end surface of the tire; the axial distance sensor 76 is fixed on the second side surface of the end support seat 33, and the detection surface of the axial distance sensor 76 is opposite to the axial direction of the end effector, and is used for sensing the axial distance from the end effector to the tire to be conveyed, namely, sensing the specification and the size of a center hole of the tire to be conveyed, so that the center of the tensioning mechanism is opposite to the center of the tire, the tire is accurately clamped, and the tire to be conveyed is accurately positioned. In addition, the radial distance sensor 75 is located on a radial distance sensor mount, the axial distance sensor 76 is located on an axial distance sensor mount, and both the radial distance sensor mount and the axial distance sensor mount are fixed on the end support mount 33.
The signal detection system further comprises a tensioning sensor 77, the tensioning sensor 77 is fixed in the cavity of the third connecting rod 54, a pressing sheet 78 is arranged on the outer side face of the third connecting rod 54, the clamping force of the third connecting rod 54 when clamping the tire can be controlled through the pressing sheet 78 and the tensioning sensor 77, and the problem that the tire is damaged due to insufficient clamping force or overlarge clamping force is avoided, so that the tire is effectively clamped is avoided.
The working principle of the end effector of the tire transfer robot is as follows:
firstly, the placement position of the tire to be conveyed is found out through the industrial camera 61, the coordinate value of the center hole of the tire to be conveyed is calculated, then the coordinate value of the center hole of the tire is sent to the joint robot 10, the joint robot 10 moves the end effector to the position above the tire to be conveyed, and at the moment, the servo motor 43 drives the end effector to be in an initial state so as to prepare for grabbing the tire in the next step; secondly, the radial distance sensor 75 and the axial distance sensor 76 start to work, and the specification size of the center hole of the tire to be conveyed and the distance from the tire end face to the end effector are confirmed; then the articulated robot 10 drives the end effector to a determined position, the servo motor 43 works again to drive the ball screw 41 to rotate, so that the driving nut 42 drives the driving sliding block 51 to move towards the direction of the mounting seat 31, the third connecting rods 54 move towards the direction away from the ball screw 41, and at the moment, the plurality of third connecting rods 54 are outwards opened to clamp an inner hole of a tire to be conveyed; when the pressing piece 78 contacts the inner wall of the tire, the tension sensor 77 starts to operate, the clamping force of the tire is controlled by the tension sensor 77, the servo motor 43 stops driving after the clamping is stable, and the articulated robot 10 conveys the tire clamped on the end effector to a specified position. The servo motor 43 drives the ball screw 41 in a reverse direction, so that the driving nut 42 drives the driving slider 51 to move away from the mounting seat 31, so that the third connecting rod 54 moves towards the ball screw 41, and at this time, the plurality of third connecting rods 54 retract inwards to release the tire. Then, the articulated robot 10 drives the end effector to return to the initial state, complete one transfer and enter the next transfer cycle.
In summary, the technical scheme of the invention has the following advantages:
1. the invention discloses a tire handling robot end effector, which is arranged on a mounting flange mechanism of a joint robot and comprises a guide supporting mechanism, a visual positioning system, a driving system and a signal detection system which are arranged on the mounting flange mechanism, wherein the visual positioning system is used for determining the position of a tire to be handled and sending calculated coordinate values of a center hole of the tire to be handled to the joint robot, so that the joint robot is beneficial to controlling the end effector to move above the tire to be handled, the initial positioning of the tire to be handled is realized, the visual positioning system and the driving system are both arranged on the guide supporting mechanism, the driving system is provided with a tensioning mechanism for grabbing the tire, the driving system is used for controlling the opening or closing of the tensioning mechanism, the signal detection system is respectively arranged on the guide supporting mechanism and the tensioning mechanism, and the signal detection system arranged on the guide supporting mechanism is used for confirming the specification size of the center hole of the tire to be handled and the distance from the tire end face to the end effector, thereby being beneficial to ensuring that the center of the tensioning mechanism is just opposite to the center of the tire to realize accurate positioning of the tire handling machine, and the clamping force of the tire to be handled is realized by the clamping mechanism is well controlled by the clamping system.
2. The invention discloses a tire handling robot end effector, wherein the signal detection system further comprises a radial distance sensor and an axial distance sensor, wherein the radial distance sensor is fixed on a first side surface of an end support seat, and a detection surface of the radial distance sensor is opposite to the radial direction of the end effector and is used for sensing the radial distance from the end effector to a tire to be handled; the axial distance sensor is fixed on the second side surface of the tail end supporting seat, the detection surface of the axial distance sensor is opposite to the axial direction of the tail end actuator and is used for sensing the axial distance from the tail end actuator to the tire to be conveyed, so that the center of the tensioning mechanism is opposite to the center of the tire, the tire is accurately clamped, and the tire to be conveyed is accurately positioned.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (8)
1. The utility model provides a tire transfer robot end effector, sets up on joint robot's mounting flange mechanism, its characterized in that: the tire gripping device comprises a guide supporting mechanism, a visual positioning system, a driving system and a signal detection system, wherein the guide supporting mechanism, the visual positioning system, the driving system and the signal detection system are arranged on the installation flange mechanism, the driving system is provided with a tensioning mechanism for gripping tires, the driving system controls the tensioning mechanism to be opened or closed, and the signal detection system is respectively arranged on the guide supporting mechanism and the tensioning mechanism;
the visual positioning system is used for determining the position of the tire to be conveyed and sending the calculated coordinate value of the center hole of the tire to be conveyed to the joint robot, so that the joint robot is beneficial to controlling the end effector to move to the position above the tire to be conveyed, and the preliminary positioning of the tire to be conveyed is realized;
the guide supporting mechanism comprises a mounting seat arranged at the tail end of the mounting flange mechanism, a plurality of linear guide rods fixed on the mounting seat, a tail end supporting seat fixed on the linear guide rods and opposite to the mounting seat, and a middle supporting seat fixed on the linear guide rods and positioned between the mounting seat and the tail end supporting seat;
the signal detection system comprises a radial distance sensor and an axial distance sensor, wherein the radial distance sensor is fixed on the first side surface of the end support seat, and the detection surface of the radial distance sensor is opposite to the radial direction of the end effector and is used for sensing the radial distance from the end effector to a tire to be conveyed, namely the distance from the end effector to the end surface of the tire; the axial distance sensor is fixed on the second side surface of the tail end supporting seat, the detection surface of the axial distance sensor is opposite to the axial direction of the tail end actuator and is used for sensing the axial distance from the tail end actuator to the tire to be conveyed, namely, the specification and the size of a center hole of the tire to be conveyed, so that the center of the tensioning mechanism is opposite to the center of the tire, the tire is accurately clamped, and the tire to be conveyed is accurately positioned.
2. The tire handling robot end effector of claim 1, wherein: the visual positioning system comprises an industrial camera and a lens fixed on the industrial camera, and the industrial camera is fixed on the tail end supporting seat.
3. The tire handling robot end effector of claim 1, wherein: the driving system comprises a ball screw connected with the power device, the ball screw is fixed between the mounting seat and the tail end supporting seat and penetrates through the middle supporting seat, and a driving nut is arranged on the ball screw.
4. The tire handling robot end effector of claim 3, wherein: the tensioning mechanism comprises a driving sliding block fixed on the driving nut, a first connecting rod connected with the mounting seat, a second connecting rod connected with the driving sliding block and a third connecting rod connected with the second connecting rod and parallel to the linear guide rod, and the first connecting rod is connected to the middle position of the second connecting rod through a second pin shaft.
5. The tire handling robot end effector of claim 3, wherein: the power device comprises a servo motor arranged in the mounting flange mechanism and a speed reducer connected with the servo motor, and the speed reducer is connected with the ball screw through an elastic coupling.
6. The tire handling robot end effector of claim 4, wherein: the signal detection system comprises an origin position sensor arranged on the mounting seat, an origin limiting block opposite to the origin position sensor, a tail end position sensor arranged on the middle supporting seat and a tail end limiting block opposite to the tail end position sensor, wherein the origin limiting block is fixed on the driving sliding block, and the tail end limiting block is fixed on the driving nut.
7. The tire handling robot end effector of claim 6, wherein: the signal detection system further comprises a tensioning sensor, the tensioning sensor is fixed in the cavity of the third connecting rod, and a pressing sheet is arranged on the outer side face of the third connecting rod.
8. The tire handling robot end effector of claim 1, wherein: the mounting flange mechanism comprises a U-shaped connecting flange connected with the joint robot, a back plate fixedly connected with the U-shaped connecting flange, and a first side plate and a second side plate which are fixed on two sides of the U-shaped connecting flange, wherein the first side plate is fixedly connected with the second side plate through the back plate to form a containing cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710240760.3A CN108724168B (en) | 2017-04-13 | 2017-04-13 | Tire transfer robot end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710240760.3A CN108724168B (en) | 2017-04-13 | 2017-04-13 | Tire transfer robot end effector |
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| Publication Number | Publication Date |
|---|---|
| CN108724168A CN108724168A (en) | 2018-11-02 |
| CN108724168B true CN108724168B (en) | 2023-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710240760.3A Active CN108724168B (en) | 2017-04-13 | 2017-04-13 | Tire transfer robot end effector |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109849391A (en) * | 2019-04-09 | 2019-06-07 | 青岛星华智能装备有限公司 | A kind of tire building fixture |
| CN109968343A (en) * | 2019-04-16 | 2019-07-05 | 广东省智能制造研究所 | A kind of wheel hub die casting carrying six-shaft industrial robot |
| CN113134844A (en) * | 2021-05-31 | 2021-07-20 | 广东机电职业技术学院 | Accurate grabbing device of service robot |
| CN115229828B (en) * | 2022-08-05 | 2024-04-12 | 安徽工程大学 | Full-adaptive automobile tire grabbing manipulator |
| CN115648231B (en) * | 2022-12-29 | 2023-03-21 | 无锡黎曼机器人科技有限公司 | Size and position recognition and grabbing control method and control system for tire blank |
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Denomination of invention: Tire handling robot end effector Effective date of registration: 20231223 Granted publication date: 20231013 Pledgee: Agricultural Bank of China Limited by Share Ltd. Wuxi Huishan branch Pledgor: WUXI LIMAN ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2023980073677 |