CN109079830A

CN109079830A - The Full-automatic tire wire loop grabbing device cooperated with robot

Info

Publication number: CN109079830A
Application number: CN201811136172.6A
Authority: CN
Inventors: 谢雷; 杨锋; 龚小兵
Original assignee: Guilin Fanmake Machinery Co Ltd
Current assignee: Guilin Fanmake Machinery Co Ltd
Priority date: 2018-09-28
Filing date: 2018-09-28
Publication date: 2018-12-25

Abstract

The invention discloses a kind of Full-automatic tire wire loop grabbing devices cooperated with robot; including wire loop gripping body; the wire loop gripping body includes substrate and clamping plate; the clamping plate is arranged in parallel in substrate forward lower part and passes through left and right symmetrical parallel―ordinal shift component and is installed on substrate, and the substrate, which is equipped with, drives clamping plate to draw close substrate crawl wire loop with translational movement and leave the driving assembly that substrate unloads wire loop with translational movement；The top of the substrate is equipped with connecting flange, and substrate is installed on the mechanical arm of six-joint robot by connecting flange.Wire loop gripping body of the invention is assembled together with six-joint robot, can steadily grab the wire loop that bead winding machine is made, and automatic transmission of the wire loop from bead winding machine to next process may be implemented.

Description

The Full-automatic tire wire loop grabbing device cooperated with robot

Technical field

The present invention relates to tire production line auxiliary facility, specially a kind of Full-automatic tire wire loop cooperated with robot Grabbing device.

Background technique

Wire loop be arranged encapsulated steel wire by certain section configuration made of stiffening ring, act on and be to confer to tyre bead with must The intensity and rigidity wanted, are bonded to tire firmly on tyre rim.

The traditional manufacturing technique of wire loop is carried out on bead winding machine, is needed later manually by wire loop from twining It is taken on machine and encloses and be placed into next procedure use, need the artificial continuous duplication of labour, production efficiency is low, especially for complete Steel load-carrying tire maximum specification wire loop, human load is big, and labor intensity is high.

Summary of the invention

In view of the deficiencies of the prior art, the technical problem to be solved by the present invention is to propose a kind of substitution it is artificial and machine The Full-automatic tire wire loop grabbing device of device people cooperation.

It is able to solve the Full-automatic tire wire loop grabbing device of above-mentioned technical problem cooperated with robot, technical side Case includes wire loop gripping body, and the wire loop gripping body includes substrate and clamping plate, and the clamping plate is in substrate forward lower part Be arranged in parallel and pass through left and right symmetrical parallel―ordinal shift component and be installed on substrate, the substrate be equipped with drive clamping plate with Translational movement draws close substrate crawl wire loop and leaves the driving assembly that substrate unloads wire loop with translational movement.

The cylinder body hinge of the preferred cylinder of the driving component, the cylinder is loaded on substrate top, the cylinder rod that cylinder extends downwardly Hinge clamping plate.

Further, the substrate is equipped with when unloading wire loop and acts on the buffer on clamping plate.

Further, the substrate is equipped with for detecting the Photoelectric Detection head for whether having wire loop between substrate and clamping plate.

Further, the top of the substrate is equipped with connecting flange, and substrate is installed on six-joint robot by connecting flange On mechanical arm.

Beneficial effects of the present invention:

Wire loop gripping body of the invention is assembled together with six-joint robot, can steadily grab bead winding The wire loop that machine is made, and automatic transmission of the wire loop from bead winding machine to next process may be implemented.

Detailed description of the invention

Fig. 1 is the three-dimensional structure diagram of one embodiment of the present invention.

Fig. 2 is the installation diagram of the mechanical arm of wire loop gripping body and six-joint robot in Fig. 1 embodiment.

Fig. 3 is the three-dimensional structure diagram of wire loop gripping body in Fig. 1 embodiment.

Figure number mark: 1, substrate；2, clamping plate；3, cylinder；4, buffer；5, parallel―ordinal shift component；6, wire loop；7, even Acting flange；8, six-joint robot；8-1, mechanical arm；9, wire loop gripping body；10, Photoelectric Detection head.

Specific embodiment

Illustrated embodiment is described further technical solution of the present invention with reference to the accompanying drawing.

The Full-automatic tire wire loop grabbing device of the present invention and robot cooperation, structure include being installed on six axis machines Wire loop gripping body 9 on the mechanical arm 8-1 of people 8, as shown in Figure 1 and Figure 2.

The wire loop gripping body 9 includes vertical substrate 1, the rectangle position of the substrate 1 including lower part (left, Dextrad is length direction) and top isosceles triangle position, the top at 1 isosceles triangle position of substrate is equipped with horizontal connection Flange 7, substrate 1 are installed on mechanical arm 8-1 by connecting flange 7；Rectangle position corresponding to positive (preceding) face of substrate 1 is set There is clamping plate 2 of the same size, the clamping plate 2 is installed on substrate 1 by left and right symmetrically arranged parallel―ordinal shift component 5；Base The isosceles triangle position center of plate 1 is equipped with driving assembly (using vertical cylinder 3), and the cylinder body upper end of the cylinder 3 passes through Hinge mounting mechanism is installed on substrate 1, and the cylinder rod end that cylinder 3 extends downwardly is installed on clamping plate 2 by cutting with scissors mounting mechanism, cylinder 3 The substrate 1 of side is equipped with buffer 4, and the substrate 1 of 3 other side of cylinder is equipped with Photoelectric Detection head 10, as shown in Figure 1, Figure 2, Fig. 3 institute Show.

Work step process of the invention are as follows:

1, the mechanical arm 8-1 of six-joint robot 8 drives wire loop gripping body 9 to be moved to bead winding machine and unloads circle work Wire loop 6 (vertical to place) top of position.

2, the cylinder rod of cylinder 3 retracts, and drives clamping plate 2 to move in a manner of translation far from substrate 1, i.e. wire loop gripping body 9 are in open configuration, are acting upwardly on buffer 4 at the top of this process middle clamp plate 2.

3, the top annulus of wire loop 6 is placed between substrate 1 and clamping plate 2 by 9 test of wire loop gripping body.

4, the cylinder rod of cylinder 3 is stretched out, and clamping plate 2 is driven to draw close movement to substrate 1 in a manner of translation and clamp wire loop 6 Top annulus (can at least clamp three points formed a stable plane contact).

5, wire loop gripping body 9, which moves upwards, picks up wire loop 6, and completion takes circle to act.

6,8 driving manipulator arm 8-1 of six-joint robot, by the specified of the operation of wire loop gripping body 9 to next process Position.

7, the cylinder rod of cylinder 3 retracts, and clamping plate 2 leaves substrate 1 and unclamps wire loop 6, and circle movement is unloaded in completion.

Claims

1. the Full-automatic tire wire loop grabbing device cooperated with robot, it is characterised in that: including wire loop gripping body (9), the wire loop gripping body (9) includes substrate (1) and clamping plate (2), and the clamping plate (2) is flat in substrate (1) forward lower part Row is arranged and is installed on substrate (1) by left and right symmetrical parallel―ordinal shift component (5), and the substrate (1), which is equipped with, to be driven Clamping plate (2) draws close substrate (1) crawl wire loop with translational movement and leaves the driving group that substrate (1) unloads wire loop with translational movement Part.

2. the Full-automatic tire wire loop grabbing device according to claim 1 cooperated with robot, it is characterised in that: institute Stating driving assembly includes cylinder (3), and the cylinder body hinge of the cylinder (3) is loaded on substrate (1) top, the cylinder that cylinder (3) extends downwardly Bar hinge clamping plate (2).

3. the Full-automatic tire wire loop grabbing device according to claim 1 cooperated with robot, it is characterised in that: institute It states substrate (1) and is equipped with when unloading wire loop and act on the buffer (4) on clamping plate (2).

4. the Full-automatic tire wire loop grabbing device according to claim 1 cooperated with robot, it is characterised in that: institute Substrate (1) is stated to be equipped with for detecting the Photoelectric Detection head (10) for whether having wire loop (6) between substrate (1) and clamping plate (2).

5. the Full-automatic tire wire loop grabbing device cooperated described according to claim 1~any one of 4 with robot, It is characterized by: the top of the substrate (1) is equipped with connecting flange (7), substrate (1) is installed on six axis by connecting flange (7) On the mechanical arm (8-1) of robot (8).