CN111546310A - Automatic change arm for wheel hub production line - Google Patents
Automatic change arm for wheel hub production line Download PDFInfo
- Publication number
- CN111546310A CN111546310A CN202010238193.XA CN202010238193A CN111546310A CN 111546310 A CN111546310 A CN 111546310A CN 202010238193 A CN202010238193 A CN 202010238193A CN 111546310 A CN111546310 A CN 111546310A
- Authority
- CN
- China
- Prior art keywords
- fixed
- motor
- production line
- hinged
- vertical beam
- 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
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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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
- B25J9/10—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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses a mechanical arm for an automatic hub production line, which comprises a cross beam and a vertical beam, wherein the cross beam is provided with a horizontal guide rail and a horizontal rack, the horizontal guide rail is provided with a sliding seat, and the sliding seat is also matched with the vertical beam so that the vertical beam can slide up and down relative to the sliding seat; the third motor is installed to the bottom of erecting the roof beam and with the first speed reducer of third motor complex, first speed reducer department is connected with first rotating turret, first rotating turret department install the fourth motor and with fourth motor complex second reduction gears, second reduction gears department is connected with the second rotating turret, second rotating turret department is fixed with the mount pad, slide rail and telescopic cylinder are installed to mount pad department, slide rail department has first slider and second slider, first slider department is fixed with first centre gripping arm, second slider department is fixed with second centre gripping arm. The mechanical arm can convey the hub in multiple directions, multiple angles and in a large range.
Description
Technical Field
The invention relates to the field of hubs, in particular to a mechanical arm for an automatic hub production line.
Background
The hub is a rotating part of a wheel core, wherein the wheel core is connected with the inner profile steel of the tire through a stand column, namely a metal part which supports the center of the tire and is arranged on a shaft. Also called rim, steel ring, wheel and tyre bell. The hub is of various kinds according to diameter, width, molding mode and material. Hub's production needs through a plurality of steps such as casting, machining to along with technological upgrading such as intelligent manufacturing, hub's production more and more tends towards automated production, hub need switch on a plurality of production lines in process of production, need carry out hub's the operation of snatching, but because hub weight is big, and high temperature in some links, can't carry by hand, and manual handling efficiency is low, consequently needs automatic arm handling device.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to overcome the defects of the prior art and provides a mechanical arm for an automatic hub production line.
The technical scheme is as follows: a mechanical arm for an automatic hub production line comprises a cross beam and a vertical beam, wherein a horizontal guide rail and a horizontal rack are arranged at the cross beam, a sliding seat is arranged at the horizontal guide rail, a first motor is arranged at the sliding seat and used for driving a first gear meshed with the horizontal rack; a second motor is further fixed at the sliding seat and used for driving a second gear, the sliding seat is further matched with the vertical beam to enable the vertical beam to slide up and down relative to the sliding seat, and a vertical guide rail matched with the sliding seat and a vertical rack meshed with the second gear are arranged at the vertical beam; a third motor and a first speed reducer matched with the third motor are installed at the bottom end of the vertical beam, a first rotating frame is connected at the first speed reducer, a fourth motor and a second speed reducer matched with the fourth motor are installed at the first rotating frame, a second rotating frame is connected at the second speed reducer, an installation seat is fixed at the second rotating frame, a sliding rail and a telescopic cylinder are installed at the installation seat, a first sliding block and a second sliding block are arranged at the sliding rail, the installation seat is fixed with a cylinder body of the telescopic cylinder, a piston rod of the telescopic cylinder is fixedly connected with the first sliding block, a rotating rod is further hinged at the installation seat, the rotating rod is connected with the first sliding block through a first connecting rod, one end of the first connecting rod is hinged with the rotating rod, the other end of the first connecting rod is hinged with the first sliding block, the rotating rod is connected with the second sliding block through a second connecting rod, and one end of the second connecting rod is hinged with the rotating, the other end is hinged with a second sliding block, a first clamping arm is fixed at the first sliding block, and a second clamping arm is fixed at the second sliding block.
Furthermore, one end of the rotating rod is hinged with the first connecting rod, and the other end of the rotating rod is hinged with the second connecting rod; the midpoint of the rotating rod is hinged to the mounting seat.
So that both gripper arms can perform movements of the same amplitude.
Furthermore, clamping units are fixed at the first clamping arm and the second clamping arm, and each clamping unit comprises a clamping rod and abutting units located at two ends of the clamping rod.
Furthermore, the abutting unit comprises two discs which are distributed up and down.
Therefore, the plurality of discs are tightly abutted to clamp the hub, and the surface of the hub cannot be scratched.
Further, erect roof beam department and still install and carry and draw cylinder and fixed block, carry the top of drawing the cylinder and erect the top fixed connection of roof beam, the fixed block is fixed in the side of erecting the roof beam with the expansion end fixed connection who draws the cylinder, the fixed block.
The lifting cylinder is used for providing auxiliary lifting force when the vertical beam is lifted so as to reduce the burden of the rack and the gear.
Further, the first gear has a plurality ofly, the first motor passes through drive mechanism drive a plurality of first gears and rotates, a plurality of first gears all with horizontal guide rail meshing.
Thereby meshing between a plurality of first gears and the horizontal rack, the drive is more stable, powerful.
Furthermore, two ends of the cross beam are also fixedly provided with cross beam mounting brackets. Thereby facilitating the installation of the cross beam.
Furthermore, a plurality of horizontal guide rails are fixed at the cross beam. So that the cooperation of the sliding seat and the cross beam is more stable.
Has the advantages that: the mechanical arm can realize horizontal, vertical and turnover movement during movement, can clamp the hub without damaging the hub, can carry out operations such as large-scale carrying, turnover and the like on the hub, is suitable for an automatic production line for hub production, and effectively improves the efficiency of hub production.
Drawings
FIG. 1 is a schematic view of a first angle of a robotic arm;
FIG. 2 is an enlarged view of area A;
FIG. 3 is an enlarged view of area B;
FIG. 4 is a schematic view of a second angle of the robotic arm;
fig. 5 is an enlarged view of the region C.
Detailed Description
Reference numerals: 1, a cross beam; 1.1 horizontal guide rails; 1.2 horizontal rack; 1.3 a slide seat; 1.4 a first motor; 1.5 a first gear; 2, erecting a beam; 2.1 a second motor; 2.2 vertical guide rails; 2.4 pulling the cylinder; 2.5, fixing blocks; 3.1 a third motor; 3.2 a first reduction mechanism; 4 a first rotating frame; 4.1 a fourth motor; 4.2 a second reduction mechanism; 5 a second rotating frame; 5.1 mounting seats; 5.2 sliding rails; 5.3 telescopic cylinder; 6.1 a first slide; 6.2 second slide block; 7.1 a first gripper arm; 7.2 a second gripper arm; 7.3 clamping the rod; 7.4 a tightening unit; 8.1 a first connecting rod; 8.2 second connecting rods; 8.3 rotating the rod; 10 hub.
The following detailed description is made with reference to the accompanying drawings: a mechanical arm for an automatic hub production line comprises a cross beam 1 and a vertical beam 2, wherein a horizontal guide rail 1.1 and a horizontal rack 1.2 are arranged at the position of the cross beam 1, a sliding seat 1.3 is installed at the position of the horizontal guide rail 1.1, a first motor 1.4 is installed at the position of the sliding seat 1.3, and the first motor 1.4 is used for driving a first gear 1.5 meshed with the horizontal rack 1.2; a second motor 2.1 is further fixed at the sliding seat 1.3, the second motor 2.1 is used for driving a second gear, the sliding seat 1.3 is further installed in a matched manner with the vertical beam 2, so that the vertical beam 2 can slide up and down relative to the sliding seat 1.3, and the vertical beam 2 is provided with a vertical guide rail 2.2 matched with the sliding seat 1.3 and a vertical rack meshed with the second gear; the bottom end of the vertical beam is provided with a third motor 3.1 and a first speed reducer 3.2 matched with the third motor 3.1, the first speed reducer 3.2 is connected with a first rotating frame 4, the first rotating frame 4 is provided with a fourth motor 4.1 and a second speed reducing mechanism 4.2 matched with the fourth motor 4.1, the second speed reducing mechanism 4.2 is connected with a second rotating frame 2, the second rotating frame 2 is fixed with an installation seat 5.1, the installation seat 5.1 is provided with a sliding rail 5.2 and a telescopic cylinder 5.3, the sliding rail 5.2 is provided with a first sliding block 6.1 and a second sliding block 6.2, the installation seat 5.1 is fixed with a cylinder body of the telescopic cylinder 5.3, a piston rod of the telescopic cylinder 5.3 is fixedly connected with a rotating rod of the first sliding block 6.1, the installation seat 5.1 is hinged with 8.3, the first connecting rod 8.1 is connected with the first connecting rod 6.1 through a first connecting rod 8.1, one end of the first sliding block 8.1 is hinged with the first connecting rod 6.3, and the other end of the first sliding block is hinged with the first sliding block 6.1, dwang 8.3 is connected with second slider 6.2 through second connecting rod 8.2, and the one end of second connecting rod 8.2 is articulated with dwang 8.3, and the other end is articulated with second slider 6.2, first slider 6.1 department is fixed with first centre gripping arm 7.1, second slider 6.2 department is fixed with second centre gripping arm 7.2.
One end of the rotating rod 8.3 is hinged with the first connecting rod 8.1, and the other end is hinged with the second connecting rod 8.2; the midpoint of the rotating rod 8.3 is hinged with the mounting seat 5.1. Clamping units are fixed at the positions of the first clamping arm 7.1 and the second clamping arm 7.2 respectively, and each clamping unit comprises a clamping rod 7.3 and abutting units 7.4 positioned at two ends of the clamping rod 7.3. The abutting unit 7.4 comprises two discs which are distributed up and down. The lifting device is characterized in that a lifting cylinder 2.4 and a fixed block 2.5 are further mounted at the vertical beam 2, the top end of the lifting cylinder 2.4 is fixedly connected with the top end of the vertical beam 2, the fixed block 2.5 is fixedly connected with the movable end of the lifting cylinder 2.4, and the fixed block 2.5 is fixed on the side face of the vertical beam 2. The first gear 1.5 has a plurality ofly, a plurality of first gears 1.5 of first motor 1.4 drive through drive mechanism rotate, a plurality of first gears 1.5 all with horizontal guide rail 1.1 meshing. And beam mounting brackets are further fixed at two ends of the beam 1. And a plurality of horizontal guide rails are fixed at the cross beam.
According to the mechanical arm disclosed by the invention, as shown in the figure, the cross beam is fixedly arranged, the first motor can drive the sliding seat to horizontally move along the cross beam, the second motor can drive the vertical beam to vertically move along the sliding seat, and the lifting cylinder enables the vertical beam to more stably move along the sliding seat. The cooperation of the third motor and the first speed reducing mechanism can enable the first rotating frame to rotate in the horizontal direction, and the cooperation of the fourth motor and the second speed reducing mechanism can enable the second rotating frame to rotate in the vertical direction. Extension and shortening through telescopic cylinder can make first slider and second slider be close to each other or keep away from the slip each other along the slide rail, and cooperation dwang, head rod and second connecting rod can drive first centre gripping arm and second centre gripping arm centre gripping wheel hub or loosen wheel hub. The clamping unit on the clamping arm enables the adaptability of clamping of the hub to be stronger, and the clamping disc cannot damage the surface of the hub.
While the invention has been shown and described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the invention as defined in the following claims.
Claims (8)
1. The mechanical arm for the automatic hub production line is characterized by comprising a cross beam and a vertical beam, wherein the cross beam is provided with a horizontal guide rail and a horizontal rack, the horizontal guide rail is provided with a sliding seat, the sliding seat is provided with a first motor, and the first motor is used for driving a first gear meshed with the horizontal rack; a second motor is further fixed at the sliding seat and used for driving a second gear, the sliding seat is further matched with the vertical beam to enable the vertical beam to slide up and down relative to the sliding seat, and a vertical guide rail matched with the sliding seat and a vertical rack meshed with the second gear are arranged at the vertical beam; a third motor and a first speed reducer matched with the third motor are installed at the bottom end of the vertical beam, a first rotating frame is connected at the first speed reducer, a fourth motor and a second speed reducer matched with the fourth motor are installed at the first rotating frame, a second rotating frame is connected at the second speed reducer, an installation seat is fixed at the second rotating frame, a sliding rail and a telescopic cylinder are installed at the installation seat, a first sliding block and a second sliding block are arranged at the sliding rail, the installation seat is fixed with a cylinder body of the telescopic cylinder, a piston rod of the telescopic cylinder is fixedly connected with the first sliding block, a rotating rod is further hinged at the installation seat, the rotating rod is connected with the first sliding block through a first connecting rod, one end of the first connecting rod is hinged with the rotating rod, the other end of the first connecting rod is hinged with the first sliding block, the rotating rod is connected with the second sliding block through a second connecting rod, and one end of the second connecting rod is hinged with the rotating, the other end is hinged with a second sliding block, a first clamping arm is fixed at the first sliding block, and a second clamping arm is fixed at the second sliding block.
2. The mechanical arm for the automatic hub production line as claimed in claim 1, wherein one end of the rotating rod is hinged with a first connecting rod, and the other end of the rotating rod is hinged with a second connecting rod; the midpoint of the rotating rod is hinged to the mounting seat.
3. The mechanical arm for the automatic hub production line as claimed in claim 1, wherein clamping units are fixed at the first clamping arm and the second clamping arm, and each clamping unit comprises a clamping rod and abutting units located at two ends of the clamping rod.
4. The mechanical arm for the automatic hub production line as claimed in claim 3, wherein the abutting unit comprises two disks which are distributed up and down.
5. The mechanical arm for the automatic hub production line as claimed in claim 1, wherein a lifting cylinder and a fixed block are further mounted at the vertical beam, the top end of the lifting cylinder is fixedly connected with the top end of the vertical beam, the fixed block is fixedly connected with the movable end of the lifting cylinder, and the fixed block is fixed on the side face of the vertical beam.
6. The mechanical arm for the automatic hub production line as claimed in claim 1, wherein the first gear is provided with a plurality of gears, the first motor drives the first gears to rotate through a transmission mechanism, and the first gears are all meshed with the horizontal guide rail.
7. The mechanical arm for the automatic hub production line as claimed in claim 1, wherein two ends of the cross beam are further fixed with cross beam mounting brackets.
8. The mechanical arm for the automatic hub production line as claimed in claim 1, wherein a plurality of horizontal guide rails are fixed at the cross beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010238193.XA CN111546310A (en) | 2020-03-30 | 2020-03-30 | Automatic change arm for wheel hub production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010238193.XA CN111546310A (en) | 2020-03-30 | 2020-03-30 | Automatic change arm for wheel hub production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111546310A true CN111546310A (en) | 2020-08-18 |
Family
ID=72003801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010238193.XA Pending CN111546310A (en) | 2020-03-30 | 2020-03-30 | Automatic change arm for wheel hub production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111546310A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454299A (en) * | 2020-11-10 | 2021-03-09 | 江西立讯智造有限公司 | Product turnover mechanism of earphone welding ring assembly module |
| CN112974047A (en) * | 2021-03-09 | 2021-06-18 | 马鞍山星苗智能装备有限公司 | Automatic moving and carrying type manipulator |
| CN115284323A (en) * | 2022-07-06 | 2022-11-04 | 浙江巨创机器人有限公司 | Connecting rod type hub double-hand gripping mechanism |
| CN115592484A (en) * | 2022-12-13 | 2023-01-13 | 连云港阿瑞氏金属材料有限公司（Cn） | Convertible automobile wheel hub processing arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056874A (en) * | 2013-01-08 | 2013-04-24 | 苏州凯蒂亚半导体制造设备有限公司 | Mechanical arm for high-speed carrying |
| CN204109001U (en) * | 2014-09-30 | 2015-01-21 | 连云港杰瑞自动化有限公司 | A kind of wheel hub handling machinery paw |
| CN106424672A (en) * | 2016-12-21 | 2017-02-22 | 浙江今跃机械科技开发有限公司 | Mechanical arm for casting and casting equipment |
| CN107900766A (en) * | 2017-12-29 | 2018-04-13 | 滨州学院 | It is a kind of it is automatic on unload the mechanical arm of wheel hub |
| CN208394369U (en) * | 2018-04-19 | 2019-01-18 | 广东一鼎科技有限公司 | A kind of cantilever stacking machine |
-
2020
- 2020-03-30 CN CN202010238193.XA patent/CN111546310A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056874A (en) * | 2013-01-08 | 2013-04-24 | 苏州凯蒂亚半导体制造设备有限公司 | Mechanical arm for high-speed carrying |
| CN204109001U (en) * | 2014-09-30 | 2015-01-21 | 连云港杰瑞自动化有限公司 | A kind of wheel hub handling machinery paw |
| CN106424672A (en) * | 2016-12-21 | 2017-02-22 | 浙江今跃机械科技开发有限公司 | Mechanical arm for casting and casting equipment |
| CN107900766A (en) * | 2017-12-29 | 2018-04-13 | 滨州学院 | It is a kind of it is automatic on unload the mechanical arm of wheel hub |
| CN208394369U (en) * | 2018-04-19 | 2019-01-18 | 广东一鼎科技有限公司 | A kind of cantilever stacking machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454299A (en) * | 2020-11-10 | 2021-03-09 | 江西立讯智造有限公司 | Product turnover mechanism of earphone welding ring assembly module |
| CN112974047A (en) * | 2021-03-09 | 2021-06-18 | 马鞍山星苗智能装备有限公司 | Automatic moving and carrying type manipulator |
| CN115284323A (en) * | 2022-07-06 | 2022-11-04 | 浙江巨创机器人有限公司 | Connecting rod type hub double-hand gripping mechanism |
| CN115592484A (en) * | 2022-12-13 | 2023-01-13 | 连云港阿瑞氏金属材料有限公司（Cn） | Convertible automobile wheel hub processing arm |
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| Date | Code | Title | Description |
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| 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: 20200818 |
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| RJ01 | Rejection of invention patent application after publication |