CN115229828B - Full-adaptive automobile tire grabbing manipulator - Google Patents
Full-adaptive automobile tire grabbing manipulator Download PDFInfo
- Publication number
- CN115229828B CN115229828B CN202210938255.7A CN202210938255A CN115229828B CN 115229828 B CN115229828 B CN 115229828B CN 202210938255 A CN202210938255 A CN 202210938255A CN 115229828 B CN115229828 B CN 115229828B
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- Prior art keywords
- guide
- tensioning
- plate
- tire
- side wall
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000011324 bead Substances 0.000 abstract description 12
- 230000005484 gravity Effects 0.000 abstract description 5
- 229910000831 Steel Inorganic materials 0.000 abstract description 2
- 239000010959 steel Substances 0.000 abstract description 2
- 239000003292 glue Substances 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
-
- 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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-adaptive automobile tire grabbing manipulator which comprises an upper connecting plate, a side wall plate, a lower hollow plate, a guide sleeve, a guide rod, an air cylinder and a tensioning plate, wherein the lower hollow plate is fixedly connected with the lower end of the side wall plate, the guide rod is in sliding connection with the guide sleeve, the air cylinder is fixedly connected with the middle of the back of the side wall plate, and the tensioning plate is connected with the guide rod and the end part of a piston rod of the air cylinder; a first guide limit groove is formed in the tensioning plate, a second guide limit groove is symmetrically formed in two side walls of the first guide limit groove, and a full-adaptive telescopic mechanism is arranged on the first guide limit groove and the second guide limit groove; the full-adaptive telescopic mechanism comprises a double-outlet cylinder, a U-shaped connecting buckle, a tensioning rod and a plate spring, wherein the tensioning rod moves in a plane and pushes up the plate spring, so that the plate spring is in bow-shaped tensioning at the apex of a tire bead, and the bearing capacity of the apex is high due to the fact that a tire bead steel wire is arranged in the apex; the weakest side wall of the automobile tire is prevented from bearing the gravity of the whole tire when the tire is grabbed, and the quality of the tire is ensured; the universality is good, and the cost investment is small.
Description
Technical Field
The invention belongs to the technical field of grabbing manipulators, and particularly relates to a full-adaptive automobile tire grabbing manipulator.
Background
In the automobile tire production and manufacturing process, the tire is required to be grabbed in the procedures of tire detection, transportation, stacking, warehouse entry and the like. The traditional tire grabbing mechanical arm adopts one corresponding to the tire with the corresponding size to grab the mechanical arm, so that the equipment universality is poor and the cost investment is large.
At present, an inner expanding manipulator with a telescopic arm or an inner expanding manipulator with a hook is partially adopted, and the weakest side wall of an automobile tire is required to bear the gravity of the whole tire when the tire is grabbed no matter the inner expanding manipulator with the telescopic arm or the inner expanding manipulator with the hook, so that the quality of the tire is easily influenced.
Disclosure of Invention
The invention provides a fully-adaptive automobile tire grabbing manipulator which aims to solve the technical problems in the background technology.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the utility model provides a full-adaptation automobile tire snatchs manipulator, includes upper connecting plate, side wall board, lower fretwork board, uide bushing, guide bar, cylinder and tensioning board, the side wall board is 120 interval angle evenly distributed setting, lower fretwork board and side wall board lower extreme fastening connection, uide bushing and side wall board back up-and-down symmetry set up, guide bar and uide bushing sliding connection, the cylinder is in the middle of fastening connection with the side wall board back, tensioning board and guide bar and cylinder's piston rod tip fastening connection;
a first guide limit groove is formed in the tensioning plate, second guide limit grooves are symmetrically formed in two side walls of the first guide limit groove, and full-adaptive telescopic mechanisms are arranged on the first guide limit groove and the second guide limit groove;
the full-adaptive telescopic mechanism comprises a double-outlet cylinder, a U-shaped connecting buckle, a tensioning rod and a plate spring, wherein the double-outlet cylinder is fixedly connected with the back of the tensioning plate, the U-shaped connecting buckle is fixedly connected with the end part of a piston rod of the double-outlet cylinder, a sliding groove is formed in the middle of the tensioning rod, a telescopic sliding pin is arranged in the sliding groove, the tensioning rod penetrates through a first guiding limiting groove, one end of the tensioning rod is hinged to the U-shaped connecting buckle, the other end of the tensioning rod is tightly propped against the plate spring, the telescopic sliding pin penetrates through the sliding groove and is inserted into a second guiding limiting groove, end sliding pins are arranged at two ends of the plate spring, and the end sliding pins slide in the second guiding limiting groove.
Preferably, the back of the plate spring is provided with a long groove, and the end part of the tensioning rod is embedded into the long groove to tightly contact with the wire.
The beneficial effects of adopting above technical scheme are:
1. when the tire is required to be grabbed in the procedures of tire detection, transportation, stacking and warehouse entry, the mechanical arm inserts the tire grabbing mechanical arm into the tire, then the piston rod ends of the double-outlet cylinder in the plurality of full-adaptation telescopic mechanisms simultaneously shrink with one ends of the tensioning rods through the U-shaped connecting buckles, the restraint of the pair of tensioning rods in the guiding limit groove, the restraint of the sliding pins at the two pairs of ends of the guiding limit groove and the sliding groove, the restraint of the long groove at the back of the plate spring and the restraint of the end part of the tensioning rod are carried out, so that the tensioning rods do plane movement, the plate spring is jacked up, the plate spring is in arch tension at the triangular glue of the tire bead, and the bearing capacity is high because of the tire bead steel wires arranged in the triangular glue; the weakest side wall of the automobile tire is prevented from bearing the gravity of the whole tire when the tire is grabbed, and the quality of the tire is ensured.
2. When the tire with a large tire bead size is encountered, the amplitude of the leaf spring tension is adjusted by the double air cylinders at the moment to be insufficient for tensioning the triangular glue of the tire bead, the piston rod of the air cylinder stretches out at the moment, and the tensioning plate is stretched out outwards with the whole full-adaptation telescopic mechanism under the guiding action of the guide sleeve on the guide rod, so that the universality is good and the cost investment is small.
Drawings
FIG. 1 is an assembly view of a fully compliant automotive tire gripping robot of the present invention;
FIG. 2 is an assembly view of the fully compliant telescoping mechanism;
wherein:
1. an upper connecting plate; 2. a side wall panel; 3. a lower hollowed-out plate; 4. a guide sleeve; 5. a guide rod; 6. a cylinder; 7. a tensioning plate;
70. a first guide limit groove; 71. a second guide limit groove; 72. a fully-adaptive telescopic mechanism; 72-1, double-outlet cylinder; 72-2, U-shaped connecting buckles; 72-3, tensioning rod; 72-30 parts of a chute; 72-31, a telescopic sliding pin; 72-4, leaf springs; 72-40, end sliding pins; 72-41, elongated slots.
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate and thorough understanding of the concepts and aspects of the invention, and to aid in its practice, by those skilled in the art.
As shown in fig. 1 to 2, the invention is a fully-adaptive automobile tire grabbing manipulator, a tensioning rod performs plane motion, and a plate spring is jacked up to form an arch shape to be tensioned at an apex of a tire bead, and the bearing capacity is high because the bead wire is arranged in the apex; the weakest side wall of the automobile tire is prevented from bearing the gravity of the whole tire when the tire is grabbed, and the quality of the tire is ensured; the universality is good, and the cost investment is small.
Specifically, as shown in fig. 1 to 2, the device comprises an upper connecting plate 1, a side wall plate 2, a lower hollow plate 3, a guide sleeve 4, guide rods 5, air cylinders 6 and tensioning plates 7, wherein the side wall plate 2 is uniformly distributed at 120-degree intervals, the lower hollow plate 3 is fixedly connected with the lower end of the side wall plate 2, the guide sleeve 4 is vertically symmetrically arranged on the back of the side wall plate 2, the guide rods 5 are slidably connected with the guide sleeve 4, the air cylinders 6 are fixedly connected with the middle of the back of the side wall plate 2, and the tensioning plates 7 are fixedly connected with the guide rods 5 and the end parts of piston rods of the air cylinders 6;
a first guide limit groove 70 is formed in the tensioning plate 7, second guide limit grooves 71 are symmetrically formed in two side walls of the first guide limit groove 70, and full-adaptive telescopic mechanisms 72 are arranged on the first guide limit groove 70 and the second guide limit groove 71;
the full-adaptive telescopic mechanism 72 comprises a double-outlet air cylinder 72-1, a U-shaped connecting buckle 72-2, a tensioning rod 72-3 and a plate spring 72-4, wherein the double-outlet air cylinder 72-1 is fixedly connected with the back surface of the tensioning plate 7, the U-shaped connecting buckle 72-2 is fixedly connected with the end part of a piston rod of the double-outlet air cylinder 72-1, a sliding groove 72-30 is arranged in the middle of the tensioning rod 72-3, a telescopic sliding pin 72-31 is arranged in the sliding groove 72-30, the tensioning rod 72-3 penetrates through a first guide limiting groove 70, one end of the tensioning rod 72-3 is hinged with the U-shaped connecting buckle 72-2, the other end of the tensioning rod 72-3 abuts against the plate spring 72-4, the telescopic sliding pin 72-31 penetrates through the sliding groove 72-30 and is inserted into a second guide limiting groove 71, two ends of the plate spring 72-4 are provided with end sliding pins 72-40, and the end sliding pins 72-40 slide in the second guide limiting groove 71.
The back of the plate spring 72-4 is provided with a long groove 72-41, and the end part of the tensioning rod 72-3 is embedded into the long groove 72-41 to tightly contact with the wire.
The following describes specific modes of operation with specific examples:
example 1:
when the tire is required to be grabbed in the procedures of tire detection, carrying, stacking, warehouse-in and the like, the tire grabbing manipulator is inserted into the tire by the mechanical arm, then the piston rod ends of the double-outlet cylinders 72-1 in the plurality of the full-adaptive telescopic mechanisms 72 simultaneously shrink along with one ends of the tensioning rods 72-3 through the U-shaped connecting buckles 72-2, the restraint of the tensioning rods 72-3 by the first guide limiting grooves 70, the restraint of the second guide limiting grooves 71 and the sliding grooves 72-30, the restraint of the sliding pins 72-40 by the second guide limiting grooves 71 and the restraint of the back long grooves 72-41 on the end parts of the tensioning rods 72-3 are realized, the tensioning rods 72-3 do plane movement, the plate springs 72-4 are jacked up, the plate springs 72-4 form arch tensioning at the triangular glue of the tire beads, and the bearing capacity is high because the tire bead wires are arranged in the triangular glue; the weakest side wall of the automobile tire is prevented from bearing the gravity of the whole tire when the tire is grabbed, and the quality of the tire is ensured.
Example 2:
on the basis of the embodiment 1, when a tire with a very large tire bead size is encountered, the amplitude of the plate spring 72-4 bows is adjusted by the double-outlet air cylinder 72-1 at the moment to be insufficient for tensioning the triangular glue of the tire bead, the piston rod of the air cylinder 6 extends out at the moment, and under the guiding action of the guide sleeve 4 on the guide rod 5, the tensioning plate 7 is outwards expanded with the whole full-adaptive telescopic mechanism 72, so that the universality is good, and the cost investment is small.
While the invention has been described above by way of example with reference to the accompanying drawings, it is to be understood that the invention is not limited to the particular embodiments described, but is capable of numerous insubstantial modifications of the inventive concept and solution; or the invention is not improved, and the conception and the technical scheme are directly applied to other occasions and are all within the protection scope of the invention.
Claims (2)
1. A full-adaptation automobile tire snatchs manipulator, its characterized in that: the novel hydraulic cylinder comprises an upper connecting plate (1), side wall plates (2), a lower hollowed-out plate (3), a guide sleeve (4), guide rods (5), air cylinders (6) and tensioning plates (7), wherein the side wall plates (2) are uniformly distributed at 120-degree intervals, the lower hollowed-out plate (3) is fixedly connected with the lower ends of the side wall plates (2), the guide sleeves (4) are symmetrically arranged on the back surfaces of the side wall plates (2) up and down, the guide rods (5) are in sliding connection with the guide sleeves (4), the air cylinders (6) are fixedly connected with the middle of the back surfaces of the side wall plates (2), and the tensioning plates (7) are fixedly connected with the guide rods (5) and the end parts of piston rods of the air cylinders (6);
a first guide limit groove (70) is formed in the tensioning plate (7), second guide limit grooves (71) are symmetrically formed in two side walls of the first guide limit groove (70), and full-adaptive telescopic mechanisms (72) are arranged on the first guide limit groove (70) and the second guide limit groove (71);
the full-adaptive telescopic mechanism (72) comprises a double-outlet air cylinder (72-1), a U-shaped connecting buckle (72-2), a tensioning rod (72-3) and a plate spring (72-4), wherein the double-outlet air cylinder (72-1) is fixedly connected with the back of a tensioning plate (7), the U-shaped connecting buckle (72-2) is fixedly connected with the end part of a piston rod of the double-outlet air cylinder (72-1), a sliding groove (72-30) is arranged in the middle of the tensioning rod (72-3), a telescopic sliding pin (72-31) is arranged in the sliding groove (72-30), the tensioning rod (72-3) penetrates through a first guide limiting groove (70), one end of the tensioning rod (72-3) is hinged with the U-shaped connecting buckle (72-2), the other end of the tensioning rod (72-3) is tightly propped against the plate spring (72-4), the telescopic sliding pin (72-31) penetrates through the sliding groove (72-30) and is inserted into a second guide limiting groove (71), and two ends of the plate spring (72-4) are provided with end sliding pins (72-40) and the end sliding pins (72-40) slide in the second guide limiting groove (71).
2. The fully-adaptive automobile tire gripping manipulator according to claim 1, wherein: the back of the plate spring (72-4) is provided with a long groove (72-41), and the end part of the tensioning rod (72-3) is embedded into the long groove (72-41) to be in tight line contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210938255.7A CN115229828B (en) | 2022-08-05 | 2022-08-05 | Full-adaptive automobile tire grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210938255.7A CN115229828B (en) | 2022-08-05 | 2022-08-05 | Full-adaptive automobile tire grabbing manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115229828A CN115229828A (en) | 2022-10-25 |
| CN115229828B true CN115229828B (en) | 2024-04-12 |
Family
ID=83679706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210938255.7A Active CN115229828B (en) | 2022-08-05 | 2022-08-05 | Full-adaptive automobile tire grabbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115229828B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745028A (en) * | 2011-04-19 | 2012-10-24 | 申克罗泰克有限责任公司 | Method and device for mounting a pneumatic tire |
| CN207903493U (en) * | 2018-03-01 | 2018-09-25 | 安徽世界村新材料有限公司 | A kind of tire fixture |
| CN108724168A (en) * | 2017-04-13 | 2018-11-02 | 无锡黎曼机器人科技有限公司 | Tire transfer robot end effector |
| CN111906760A (en) * | 2020-08-11 | 2020-11-10 | 安徽信息工程学院 | Two-shaft truss robot |
| CN217122989U (en) * | 2021-12-31 | 2022-08-05 | 玉柴联合动力股份有限公司 | Low-abrasion fixture for upper sleeve of cylinder sleeve for mechanical arm |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102015427B (en) * | 2008-01-30 | 2015-02-18 | 本田技研工业株式会社 | Tire mounting device, tire mounting method, working device, and working method |
-
2022
- 2022-08-05 CN CN202210938255.7A patent/CN115229828B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745028A (en) * | 2011-04-19 | 2012-10-24 | 申克罗泰克有限责任公司 | Method and device for mounting a pneumatic tire |
| CN108724168A (en) * | 2017-04-13 | 2018-11-02 | 无锡黎曼机器人科技有限公司 | Tire transfer robot end effector |
| CN207903493U (en) * | 2018-03-01 | 2018-09-25 | 安徽世界村新材料有限公司 | A kind of tire fixture |
| CN111906760A (en) * | 2020-08-11 | 2020-11-10 | 安徽信息工程学院 | Two-shaft truss robot |
| CN217122989U (en) * | 2021-12-31 | 2022-08-05 | 玉柴联合动力股份有限公司 | Low-abrasion fixture for upper sleeve of cylinder sleeve for mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| 新型抓胎机械手结构优化及动作分析;王洛智;唐跃;赵全玲;;机电工程;20170420(第04期);全文 * |
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| Publication number | Publication date |
|---|---|
| CN115229828A (en) | 2022-10-25 |
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