CN114227731A - Mechanical arm clamping jaw, forming machine equipment and upper ring control method - Google Patents
Mechanical arm clamping jaw, forming machine equipment and upper ring control method Download PDFInfo
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- CN114227731A CN114227731A CN202210042408.XA CN202210042408A CN114227731A CN 114227731 A CN114227731 A CN 114227731A CN 202210042408 A CN202210042408 A CN 202210042408A CN 114227731 A CN114227731 A CN 114227731A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 125000006850 spacer group Chemical group 0.000 claims abstract description 188
- 239000011324 bead Substances 0.000 claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims description 26
- 238000012937 correction Methods 0.000 claims description 23
- 210000000078 claw Anatomy 0.000 claims description 18
- 238000000465 moulding Methods 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 12
- 239000000463 material Substances 0.000 abstract description 9
- 238000003754 machining Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 24
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000004804 winding Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012840 feeding operation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Tyre Moulding (AREA)
Abstract
The invention discloses a mechanical arm clamping jaw, forming machine equipment and an upper ring control method, wherein the mechanical arm clamping jaw comprises the following steps: a bead jaw assembly and a spacer jaw assembly; the first pin of the tire bead clamping jaw assembly can grab and release the tire bead; the spacer clamping jaw assembly is radially and telescopically supported, and the second pin of the spacer clamping jaw assembly can grab and release the spacer; the spacer is provided with a first opening groove and a second opening groove, the first opening groove is used for being matched with the first pin in a one-to-one corresponding mode, the second opening groove is used for being matched with the second pin in a one-to-one corresponding mode, and the first opening groove is used for enabling the first pin to pass through and correcting the angle. The mechanical arm clamping jaw is wide in application range, the machining precision requirement and the material selection requirement of the spacer can be reduced, and the cost can be reduced.
Description
Technical Field
The invention relates to the technical field of forming machines, in particular to a mechanical arm clamping jaw, forming machine equipment and an upper ring control method.
Background
In the existing molding machine, the process of looping, namely, the process of carrying a tire bead from a tire bead vehicle to a tire bead preset, mainly comprises the following structural designs which meet the process requirements: in the first mode, the coiling process is manually completed, and the bead vehicle mainly carries a bead and a spacer in a hanging manner, wherein the spacer is mainly of an annular sheet structure; in the second way, the winding process is performed by a robotic arm, the bead lathes being mainly placed in a vertical stack, wherein the spacers are mainly of a grid-like structure. However, the two modes have the problem of high production cost, wherein the first mode requires large labor cost; in the second mode, the spacer is required to be produced with high precision, resulting in high manufacturing cost.
In summary, how to solve the problem of high cost of the upper ring operation of the molding machine equipment has become a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a mechanical arm clamping jaw, a forming machine device and a loop feeding control method, so as to solve the problem of high cost of loop feeding operation of the forming machine device.
In order to achieve the purpose, the invention provides the following technical scheme:
a robot arm gripper for a molding machine performing a winding operation with beads and spacers placed in vertical stacks on a bead car of the molding machine and forming a stack of spacers, comprising: a bead jaw assembly and a spacer jaw assembly;
the tire bead clamping jaw assembly comprises a plurality of first clamping jaws and a first driving mechanism, the first clamping jaws are distributed along the inner circumference of the spacer stack, the first clamping jaws extend along the radial direction of the spacer stack, first pins are formed at the extending ends of the first clamping jaws, and the front ends of the first pins are in a structure with gradually reduced width; the first driving mechanism is used for driving the first clamping jaw to stretch and close along the radial direction of the spacer stack so as to enable the first pin to grab and release the tire bead;
the spacer clamping jaw assembly comprises a plurality of second clamping jaws and a second driving mechanism, the second clamping jaws are distributed along the circumferential direction of the spacer stack, and extend along the radial direction of the spacer stack and form second pins at the extending ends of the second clamping jaws; the second driving mechanism is used for driving the second clamping jaw to stretch and contract along the radial direction of the spacer stack so as to enable the second pin to grab and release the spacer;
the spacer is provided with a first opening groove and a second opening groove, the first opening groove is used for being matched with the first pin in a one-to-one corresponding mode, the second opening groove is used for being matched with the second pin in a one-to-one corresponding mode, and the first opening groove is used for enabling the first pin to pass through and correcting angles.
Optionally, the first pin and the second pin are both L-shaped pins.
Optionally, the allowable deviation of the first pin fitting with the first open slot is ± 8 °.
Optionally, the width-reducing structure of the front end of the first pin is a linear structure in which two side edges of the front end are symmetrically arranged.
Optionally, the width-tapered structure of the front end of the first pin is a curved structure in which two side edges of the front end are symmetrically arranged.
Optionally, the number of the first claws is four, and the first claws are all arranged along the inner circumferential direction of the spacer stack.
Optionally, the number of the second claws is two and the second claws are symmetrically arranged along the center of the spacer stack, and a connecting line of the two second claws and a connecting line of the two oppositely arranged first claws are arranged at an included angle of 45 degrees.
Optionally, the first drive mechanism and the second drive mechanism are both driven by a cylinder.
Compared with the introduction content of the background technology, the specific operation steps of the forming machine for executing the coiling operation by utilizing the mechanical arm clamping jaw are as follows: the first step is as follows: responding to the ring loading instruction, judging whether the tire bead and the spacer are captured for the first time, if so, carrying out axial correction on the spacer stack, and if not, directly entering the next step; wherein, the specific mode of carrying out axial correction to the spacer stack does: the mechanical arm clamping jaw is controlled to move to a first preset height of the center position of the spacer stack, and under the position of the first preset height, the second plug pin at the front end of the second clamping jaw is over against the inner ring wall surface of the spacer positioned at the topmost layer on the spacer stack; the second step is as follows: judging whether the tire bead and the spacer are captured for the first time, if so, carrying out axial correction on the spacer stack, and if not, directly entering the next step; wherein, the specific mode of carrying out axial correction to the spacer stack does: the mechanical arm clamping jaw is controlled to move to a second preset height of the center position of the spacer stack, the bead clamping jaw assembly can execute bead grabbing operation at the second preset height, in the process of executing the bead grabbing operation, the first clamping jaw is unfolded to drive the first plug-in pin to be matched with a first open slot of the spacer positioned at the topmost layer, and the front end of the first plug-in pin is of a structure with gradually reduced width, so that the bead grabbing is realized, and the rotating angle of the spacer can be corrected; under the second preset height, the second pin can be matched with the second open slot to realize spacer grabbing operation by controlling the opening of the second jaw; the third step: and executing the placing action of the tire bead and the spacer, specifically: controlling the clamping jaw of the mechanical arm to move to a tire bead presetting position, and controlling the first clamping jaw to contract and close to release a tire bead to complete the placement of the tire bead; and controlling the mechanical arm clamping jaw to move to the spacer placing position, and controlling the second clamping to contract and close so as to release the spacer to complete spacer placing. The structure of the mechanical arm clamping jaw is used for executing the upper ring operation, when the tire bead and the spacer are grabbed for the first time in each continuous working period of the forming machine, the axial position of the spacer stack can be corrected, and the rotating direction angle of the spacer stack can be corrected when the tire bead and the spacer are grabbed for each time in a single continuous working period, so that the problems of accumulated axial deviation and rotating angle deviation after multilayer accumulation caused by low precision of the spacer can be solved, in other words, the mechanical arm clamping jaw is wide in application range, the machining precision requirement and the material selection requirement of the spacer can be reduced, and the cost can be reduced.
In addition, the invention also provides forming machine equipment which comprises a mechanical arm body and a mechanical arm clamping jaw arranged on the mechanical arm body, wherein the mechanical arm clamping jaw is the mechanical arm clamping jaw described in any scheme. Because the robot arm clamping jaw has the technical effects, the molding machine equipment with the robot arm clamping jaw also has the corresponding technical effects, and the description is omitted.
In addition, the present invention also provides a loop-up control method, which is used for controlling the molding machine described in the foregoing scheme to perform a loop-up operation, and specifically includes the steps of:
step S1: responding to the ring loading instruction, judging whether the tire bead and the spacer are captured for the first time, if so, carrying out axial correction on the spacer stack, and then entering the next step; if not, directly entering the next step;
step S2: performing the grabbing action of the tire bead and the spacer;
step S3: the bead and spacer placement action is performed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a robot arm gripper according to an embodiment of the present invention;
FIG. 2 is a schematic view of a spacer stack in an axially tilted state (corresponding to the dashed box shown) compared to an axially straightened state (corresponding to the solid box shown) according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing a comparison of a spacer (corresponding to the dashed circle shown) with a certain rotational misalignment and a spacer with a corrected rotational misalignment according to an embodiment of the present invention;
fig. 4 is a control flowchart of an upper control method according to an embodiment of the present invention.
Wherein, in fig. 1-4:
Detailed Description
The core of the invention is to provide a mechanical arm clamping jaw, forming machine equipment and a ring feeding control method, so as to solve the problem of high cost of ring feeding operation of the forming machine equipment.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, an embodiment of the present invention provides a robot gripper for a molding machine to perform a winding operation, wherein beads and spacers are placed on a bead carriage 6 of the molding machine in a vertically stacked manner to form a stack 1 of spacers, comprising: a bead jaw assembly and a spacer jaw assembly; the bead clamping jaw assembly comprises a plurality of first clamping jaws and a first driving mechanism, the first clamping jaws are distributed along the inner circumference of the spacer stack 1, the first clamping jaws extend along the radial direction of the spacer stack 1, the extending ends of the first clamping jaws are provided with first pins 2, and the front ends of the first pins 2 are in a structure with gradually reduced width; the first driving mechanism is used for driving the first claw to stretch and contract along the radial direction of the spacer stack 1 so as to enable the first pin 2 to grab and release the tire bead; the spacer clamping jaw assembly comprises a plurality of second clamping jaws and a second driving mechanism, the second clamping jaws are distributed along the circumferential direction of the spacer stack 1, the second clamping jaws extend along the radial direction of the spacer stack 1, and second pins 3 are formed at the extending ends of the second clamping jaws; the second driving mechanism is used for driving the second clamping jaw to stretch and contract along the radial direction of the spacer stack 1 so as to enable the second pin 3 to grab and release the spacer; wherein, the spacer is provided with a first open slot 4 which is used for being correspondingly matched with the first pin 2 one by one and a second open slot which is used for being correspondingly matched with the second pin 3 one by one, and the first open slot is used for the first pin 2 to pass and the angle correction.
In practical application, referring to fig. 4, the specific operation steps of the forming machine for performing the winding operation by using the mechanical arm clamping jaw are as follows:
step S1: responding to the ring loading instruction, judging whether the tire bead and the spacer are captured for the first time, if so, carrying out axial correction on the spacer stack, and if not, directly entering the next step; wherein, the specific mode of carrying out axial correction to the spacer stack does: control arm clamping jaw motion to the first height of predetermineeing of the central point of spacer stack position, under this first position of predetermineeing the height, the second of the front end of second jack catch is participated in just to the inner circle wall that is located the spacer of topmost layer on the spacer stack, therefore, drive the radial flexible of second jack catch through second actuating mechanism, can make the second participate in and prop the inner circle wall that can prop the spacer of topmost layer and close, thereby can realize the axial correction of the spacer of topmost layer, and the spacer of this topmost layer can drive its spacer that closes on in proper order the successive layer in the in-process of accomplishing the axial correction and accomplish the axial correction.
Step S2: judging whether the tire bead and the spacer are captured for the first time, if so, carrying out axial correction on the spacer stack, and if not, directly entering the next step; wherein, the specific mode of carrying out axial correction to the spacer stack does: the mechanical arm clamping jaw is controlled to move to a second preset height of the center position of the spacer stack, the bead clamping jaw assembly can execute bead grabbing operation at the second preset height, in the process of executing the bead grabbing operation, the first clamping jaw is unfolded to drive the first plug-in pin to be matched with a first open slot of the spacer positioned at the topmost layer, and the front end of the first plug-in pin is of a structure with gradually reduced width, so that the bead grabbing is realized, and the rotating angle of the spacer can be corrected; and the second pin can be matched with the second open slot to realize the spacer grabbing operation by controlling the second jaw to be spread at the second preset height.
Step S3: and executing the placing action of the tire bead and the spacer, specifically: controlling the clamping jaw of the mechanical arm to move to a tire bead presetting position, and controlling the first clamping jaw to contract and close to release a tire bead to complete the placement of the tire bead; and controlling the mechanical arm clamping jaw to move to the spacer placing position, and controlling the second clamping to contract and close so as to release the spacer to complete spacer placing.
The structure of the mechanical arm clamping jaw is used for executing the upper ring operation, when the tire bead and the spacer are grabbed for the first time in each continuous working period of the forming machine, the axial position of the spacer stack can be corrected, and the rotating direction angle of the spacer stack can be corrected when the tire bead and the spacer are grabbed for each time in a single continuous working period, so that the problems of accumulated axial deviation and rotating angle deviation after multilayer accumulation caused by low precision of the spacer can be solved, in other words, the mechanical arm clamping jaw is wide in application range, the machining precision requirement and the material selection requirement of the spacer can be reduced, and the cost can be reduced.
It should be noted that the spacers on the spacer stack generally have a second open slot to achieve the grabbing action, which is a relatively conventional technique.
It should be noted that the continuous duty cycle refers to a continuous duty cycle of the molding machine executing the upper cycle, and the continuous duty cycle does not represent a certain time period, and may be determined according to different production situations and emergency situations. For example, the first grabbing in each continuous working cycle specifically can take materials for a new skip for the first time; or taking materials for the first time after exception handling; the material can be taken for the first time after zero return or initialization, or other situations of taking the material for the first time.
In some specific embodiments, the first pin 2 and the second pin 3 may be designed as L-shaped pins. Through the structural style of the L-shaped pin, the grabbing is more stable and reliable. It is understood that, in practical applications, the structure of the pin may also be designed in other forms, such as a U-shaped structure, and the like, which is not limited herein.
Generally, the allowable deviation of the first pin 2 in the first opening groove 4 has a direct influence on the adjustment of the rotation direction angle of the spacer, and after a large number of simulation tests and experiments verify that the allowable deviation of the first pin 2 in the first opening groove 4 is set to be +/-8 degrees, the spacer can be suitable for spacers produced by most manufacturers. It is understood that the allowable deviation value is merely a preferred example of the embodiment of the present invention, and in the practical application process, other allowable deviation values may be selected according to practical requirements, which are not limited herein in more detail.
In some more specific embodiments, the width-reducing structure of the front end of the first pin 2 may be designed in a linear structure with two sides of the front end symmetrically arranged, such as an isosceles triangle structure or an isosceles trapezoid structure. Of course, the width reducing structure of the front end of the first pin 2 may also be designed to have a curved structure in which two sides of the front end are symmetrically arranged, such as a structural form similar to a peach-shaped tip. In the practical application process, the selection can be performed according to the practical requirements, and is not limited in more detail here.
In some more specific embodiments, the number of the first claws can be designed to be four, and the first claws are arranged along the inner circumferential direction of the spacer stack 1, so that the bead clamping jaw assembly can be more stably and reliably gripped, and the rotation angle adjustment correction can be more accurately performed by designing the first claws in a structural form of four. It should be understood that, of course, the four ways are only preferred examples of the embodiments of the present invention, and in the practical application, two, three or more ways may be designed, and may be arranged according to specific requirements, and are not limited in more detail herein.
In a further embodiment, the number of the second claws may be two and arranged symmetrically along the center of the spacer stack 1, and when the number of the first claws is four, the connecting line of the two second claws and the connecting line of the two oppositely arranged first claws are arranged at an angle of 45 °. Through this kind of arrangement, can effectively avoid producing between first jack catch and the second jack catch and interfere, the space is arranged in the utilization that can be more reasonable.
It should be noted that, the first driving mechanism and the second driving mechanism may specifically be driven by a cylinder, may also be driven by a cylinder, or may be a structural form of a driving mechanism commonly used by those skilled in the art, and is not limited herein more specifically. In addition, each first jaw can adopt an integral driving mechanism, or each first jaw can adopt an independent driving mechanism, and in the practical application process, the first jaws can be selected according to the practical requirements; in a similar way, each second jaw can adopt an integral driving mechanism, and each second jaw can also adopt an independent driving mechanism respectively, so that in the practical application process, the selection can be carried out according to the practical requirements.
In addition, the invention also provides forming machine equipment which comprises a mechanical arm body and a mechanical arm clamping jaw arranged on the mechanical arm body, wherein the mechanical arm clamping jaw is the mechanical arm clamping jaw described in any scheme. Because the robot arm clamping jaw has the technical effects, the molding machine equipment with the robot arm clamping jaw also has the corresponding technical effects, and the description is omitted.
In addition, the present invention further provides an upper-loop control method, which is used for controlling the molding machine described in the foregoing technical solution to perform an upper-loop operation, and as shown in fig. 4, the method specifically includes the steps of:
step S1: responding to the ring loading instruction, judging whether the tire bead and the spacer are captured for the first time, if so, performing axial correction on the spacer stack 1, and then entering the next step, otherwise, directly entering the next step; wherein, the concrete mode of carrying out axial correction to spacer stack 1 does: controlling the mechanical arm clamping jaw to move to a first preset height of the center position of the spacer stack 1, and controlling the second clamping jaw to support and close an inner ring wall surface 5 of the spacer positioned at the topmost layer on the spacer stack 1 so as to realize axial correction;
step S2: the method comprises the following steps of (1) executing the grabbing actions of the tire bead and the spacer, specifically: controlling the mechanical arm clamping jaw to move to a second preset height of the center position of the spacer stack 1, and controlling the first clamping jaw to be spread, so that the first pin 2 is matched with the first open slot 4 of the spacer positioned at the topmost layer to realize grabbing and finish correction of the rotation angle; grabbing the spacer is completed by controlling the expansion of the second jaw;
step S3: and executing the placing action of the tire bead and the spacer, specifically: controlling the clamping jaw of the mechanical arm to move to a tire bead presetting position, and controlling the first clamping jaw to contract and close to release a tire bead to complete the placement of the tire bead; and controlling the mechanical arm clamping jaw to move to the spacer placing position, and controlling the second clamping jaw to contract and close to release the spacer to complete spacer placing.
In order to better understand the technical solution provided by the present invention, the following description is made with reference to more specific operation procedures:
the robot enters a working state, a starting position is positioned, after a tire bead vehicle is in place, a manipulator receives a winding instruction, automatically searches a first (namely, the position of the topmost layer) spacer, detects the preset height of the spacer in a positioning mode, then executes a spacer stacking correction process, the spacer stacking axial correction is realized by controlling a second jack catch opening-closing process of a spacer clamping jaw assembly in the process, after the spacer stacking axial position is corrected, the manipulator positions and grabs the height of a first spacer, the manipulator opens and grabs the second jack catch of the spacer clamping jaw assembly and controls the opening of a first jack catch of the tire bead clamping jaw assembly, the rotating direction angle of the spacer stacking is corrected in the process that a first pin passes through a first open slot when the first jack catch is opened, then the first spacer is picked up to an empty vehicle, the spacer is placed, a tire bead is placed on a preset, and the next cycle is started and then circulated, correcting the axial position of the spacer stack during first grabbing, correcting the spacer stack rotation direction angle layer by layer in sequence and completing grabbing until the last spacer stack and the tire bead grabbing process in a continuous working period.
It can be understood by referring to fig. 3 that the solid line frame in fig. 3 represents the position of the spacer, and the dotted line represents the position of the accumulated rotation deviation after the multi-layer accumulation due to the low precision of the spacer, and the design enables the position of the spacer at the dotted line to be corrected to be close to the position at the solid line, so that the aims of wide application range of the mechanical arm clamping jaw, low requirement on the machining precision of the spacer, low requirement on material selection and stable whole system are achieved, the cost is reduced, and the production efficiency is improved.
Through first actuating mechanism and second actuating mechanism, first jack catch and second jack catch all can strut and contract, and the skilled person in the art can understand that its diameter range of action will be less than spacer internal diameter a definite value under the shrink state, can adjust according to actual conditions, and its diameter range of action will be equal to or slightly greater than spacer internal diameter after strutting. The design can adapt to the expansion of the swing deviation range of the axial direction caused by the stacking of the spacer in the low-precision manufacturing state of the spacer, so that the adaptive deviation of the mechanical arm clamping jaw reaches 50mm or even more (determined according to the minimum diameter of the clamping jaw action), and meanwhile, the spacer clamping jaw assembly achieves the effect of automatically correcting the axial direction deviation of the spacer in the first self-centering and subsequent grabbing sequential belt centering processes.
As can be understood by referring to FIG. 2, the solid line in FIG. 2 represents the position of the spacer in a swing mode, the dotted line represents the position of the accumulated axial deviation after multi-layer stacking due to low precision of the spacer, and the design enables the position of the spacer at the dotted line to be corrected to be close to the position at the solid line, so that the aims of wide application range of a clamping jaw, low machining precision requirement of the spacer, low material selection requirement and stable whole system are achieved, the cost is reduced, and the production efficiency is improved.
It should be noted that, in the upper ring control method, errors of axial offset of the spacer stack caused by various factors exist in the spacer stack in the control process, whether in normal operation, after abnormal processing or in other processes when the spacer and the tire bead are grabbed for the first time, in order to ensure that the first spacer and the tire bead are grabbed successfully, the spacer stack automatic correction function is designed in program control, and the function can realize correction of the spacer stack by hundreds, so that the success rate reaches one hundred percent.
The method specifically comprises the following steps: the manipulator starts to automatically find the position of the first (i.e. the highest) spacer, the preset height is positioned after the spacer is detected, then, a process of correcting the spacer stacking is executed, a program is used for controlling spacer claws to be spread, the spacer claws are acted on the inner ring wall of the spacer, so that the center of the spacer at the highest layer in the spacer stacking is concentric with the center of the mechanical arm clamping jaw, wherein the arm jaw center is set to the desired center for the spacer stack, and then the program controls the spacer jaw assembly to close, then the manipulator is positioned to the height for grabbing the first spacer, the spacer clamping jaw assembly is expanded to grab the spacer again, the grabbing is successfully completed at the moment, and the second layer spacer closest thereto will also, when the first layer spacer is straightened, substantially achieve the straightening, the process of grabbing the first layer of the spacer then corrects the second layer of the spacer along with the belt again, and then corrects the third layer of the spacer along with the belt again when grabbing the second layer of the spacer until all the spacers are obtained. The control program may be carried by the robot controller itself, or may be carried by another controller, which is not limited herein.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
It should be understood that the use of "system," "device," "unit," and/or "module" herein is merely one way to distinguish between different components, elements, components, parts, or assemblies of different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
In the description of the embodiments herein, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
If used in this application, the flowcharts are intended to illustrate operations performed by the system according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
It is also noted that, in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in an article or device that comprises the element.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A robot arm gripper for a molding machine for performing an upper turn operation, bead and spacer being placed in a vertical stack on a bead carriage (6) of said molding machine and forming a stack (1) of spacers, characterized in that it comprises: a bead jaw assembly and a spacer jaw assembly;
the bead clamping jaw assembly comprises a plurality of first clamping jaws and a first driving mechanism, the first clamping jaws are distributed along the inner circumference of the spacer stack (1), the first clamping jaws extend along the radial direction of the spacer stack (1), the extending ends of the first clamping jaws are provided with first pins (2), and the front ends of the first pins (2) are in a structure with gradually reduced width; the first driving mechanism is used for driving the first claw to stretch and contract along the radial direction of the spacer stack (1) so as to enable the first pin (2) to grab and release the tire bead;
the spacer clamping jaw assembly comprises a plurality of second clamping jaws and a second driving mechanism, the second clamping jaws are distributed along the circumferential direction of the spacer stack (1), the second clamping jaws extend along the radial direction of the spacer stack (1), and second pins (3) are formed at the extending ends of the second clamping jaws; the second driving mechanism is used for driving the second claw to stretch and contract along the radial direction of the spacer stack (1) so as to enable the second pin (3) to grab and release the spacer;
the spacer is provided with a first open slot (4) which is used for being correspondingly matched with the first pin (2) one by one and a second open slot which is used for being correspondingly matched with the second pin (3) one by one, and the first open slot is used for the first pin (2) to pass and correcting the angle.
2. The robot arm gripper as claimed in claim 1, characterized in that the first pin (2) and the second pin (3) are both L-shaped pins.
3. The robot arm gripper as claimed in claim 1, characterized in that the tolerance for the cooperation of the first prong (2) with the first open slot (4) is ± 8 °.
4. The robot arm gripper as claimed in claim 1, characterized in that the width of the front end of the first prong (2) is tapered in a linear configuration with symmetrical arrangement of the two sides of the front end.
5. The robot arm gripper as claimed in claim 1, characterized in that the width of the front end of the first pin (2) is tapered in a curved configuration with the two sides of the front end arranged symmetrically.
6. Robot arm jaw according to claim 1, characterized in that the first jaws are four in number and are all arranged circumferentially along the inner circumference of the spacer stack (1).
7. The gripper arm of claim 6, wherein the number of second jaws is two and is arranged symmetrically along the centre of the stack (1) of spacers, and the line connecting the two second jaws is arranged at an angle of 45 ° to the line connecting the two first jaws arranged opposite.
8. The robot arm gripper of claim 1, wherein said first drive mechanism and said second drive mechanism are both cylinder driven.
9. A molding machine apparatus comprising a robot arm body and a robot arm gripper provided to the robot arm body, characterized in that the robot arm gripper is a robot arm gripper according to any one of claims 1 to 8.
10. An upper-loop control method, characterized in that the control method is used for controlling the molding machine equipment according to claim 9 to execute an upper-loop operation, and comprises the following steps:
step S1: responding to the ring loading instruction, judging whether the tire bead and the spacer are captured for the first time, if so, performing axial correction on the spacer stack (1) and then entering the next step, and if not, directly entering the next step;
step S2: performing the grabbing action of the tire bead and the spacer;
step S3: the bead and spacer placement action is performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210042408.XA CN114227731A (en) | 2022-01-14 | 2022-01-14 | Mechanical arm clamping jaw, forming machine equipment and upper ring control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210042408.XA CN114227731A (en) | 2022-01-14 | 2022-01-14 | Mechanical arm clamping jaw, forming machine equipment and upper ring control method |
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| Publication Number | Publication Date |
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| CN114227731A true CN114227731A (en) | 2022-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210042408.XA Pending CN114227731A (en) | 2022-01-14 | 2022-01-14 | Mechanical arm clamping jaw, forming machine equipment and upper ring control method |
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| CN (1) | CN114227731A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06199422A (en) * | 1992-12-29 | 1994-07-19 | Bridgestone Corp | Takeout of bead-cum-filler and storage holder thereof |
| CN102159385A (en) * | 2008-08-21 | 2011-08-17 | Vmi荷兰公司 | Method and device for transferring and placing tyre beads and spacer to be used therefor |
| WO2016062218A2 (en) * | 2014-10-21 | 2016-04-28 | 萨驰华辰机械(苏州)有限公司 | Automatic rim capture system |
| CN210757773U (en) * | 2019-06-28 | 2020-06-16 | 萨驰华辰机械(苏州)有限公司 | Tire bead grabbing device |
| CN217123204U (en) * | 2022-01-14 | 2022-08-05 | 软控股份有限公司 | Mechanical arm clamping jaw and forming machine equipment |
-
2022
- 2022-01-14 CN CN202210042408.XA patent/CN114227731A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06199422A (en) * | 1992-12-29 | 1994-07-19 | Bridgestone Corp | Takeout of bead-cum-filler and storage holder thereof |
| CN102159385A (en) * | 2008-08-21 | 2011-08-17 | Vmi荷兰公司 | Method and device for transferring and placing tyre beads and spacer to be used therefor |
| WO2016062218A2 (en) * | 2014-10-21 | 2016-04-28 | 萨驰华辰机械(苏州)有限公司 | Automatic rim capture system |
| CN210757773U (en) * | 2019-06-28 | 2020-06-16 | 萨驰华辰机械(苏州)有限公司 | Tire bead grabbing device |
| CN217123204U (en) * | 2022-01-14 | 2022-08-05 | 软控股份有限公司 | Mechanical arm clamping jaw and forming machine equipment |
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