CN117565095B - Automobile part clamping manipulator with turn-over function - Google Patents
Automobile part clamping manipulator with turn-over function Download PDFInfo
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- CN117565095B CN117565095B CN202410068040.3A CN202410068040A CN117565095B CN 117565095 B CN117565095 B CN 117565095B CN 202410068040 A CN202410068040 A CN 202410068040A CN 117565095 B CN117565095 B CN 117565095B
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- clamping assembly
- positioning plate
- joint
- tire
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- 230000007306 turnover Effects 0.000 title claims abstract description 31
- 230000009471 action Effects 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 21
- 238000000034 method Methods 0.000 description 30
- 230000008569 process Effects 0.000 description 26
- 230000007547 defect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The invention provides an automobile part clamping manipulator with a turn-over function, which comprises a carrying arm and a clamping device arranged at the tail end of the carrying arm, wherein a turn-over joint is arranged between the carrying arm and the clamping device, and the clamping device comprises a first clamping assembly with two first clamping pieces and a second clamping assembly with two second clamping pieces; a telescopic joint is arranged between the first clamping assembly and the turn-over joint, and a rotating joint is arranged between the second clamping assembly and the turn-over joint. The invention can automatically realize the alternate clamping of the tire after turning over in the air, and improves the efficiency and the stability of the tire clamping detection.
Description
Technical Field
The invention relates to the technical field of clamping equipment, in particular to an automobile part clamping manipulator with a turn-over function.
Background
The tire is one of important parts of an automobile, and has good temperature resistance and pressure resistance, so that the tire can be kept safe and stable in the running process of the automobile.
The surface of the automobile tire needs to be subjected to defect detection in the production process, including but not limited to detection of high temperature, high pressure, density, obvious surface defects and the like; in the detection process, the two sides of the tire need to be controlled to be positioned under the high-definition contrast camera device, so that the automatic detection of the surface defects is finished.
By the traditional clamping mechanical arms, the tire is required to be clamped alternately by two groups of mechanical arms so as to finish the detection of the surfaces on both sides of the tire; or the direction of the tire is adjusted in a preset area through a single group of clamping manipulators, and then the clamping is completed, so that double-sided detection is realized; the adjustment process requires the manipulator to complete the alternate clamping action in a preset area, so that the stroke of the clamping manipulator action is increased, the operation area occupied by the whole equipment is increased, the efficiency of tire detection is influenced, and the equipment and the cost required by tire detection are increased.
Disclosure of Invention
Aiming at the problems, the invention provides the automobile part clamping manipulator with the overturning function, which can automatically realize alternate clamping of tires after overturning in the air, and improves the efficiency and the stability of tire clamping detection.
In order to solve the problems, the invention adopts the following technical scheme: the clamping manipulator for the automobile parts with the turn-over function comprises a carrying arm and a clamping device arranged at the tail end of the carrying arm, wherein a turn-over joint is arranged between the carrying arm and the clamping device, and the clamping device comprises a first clamping assembly with two first clamping pieces and a second clamping assembly with two second clamping pieces; a telescopic joint is arranged between the first clamping assembly and the turn-over joint, and a rotating joint is arranged between the second clamping assembly and the turn-over joint; after the tire is clamped to the top position by the first clamping assembly, first control oil in the telescopic joint is extruded into the rotary joint to control the second clamping assembly to rotate to the side of the first clamping assembly, so that alternate clamping of the tire is completed.
By arranging the first clamping component and the second clamping component to be matched, the tire can be clamped alternately in the air, so that the surfaces of the two sides of the tire can be detected successively; by the arrangement mode, two groups of independent clamping manipulators are not required to be installed, equipment is simplified, and overall control difficulty is reduced; meanwhile, the tire can be clamped alternately in the air, and the clamping efficiency of the tire is improved; after the first clamping assembly clamps the tire and turns over to the top position, the telescopic joint can be controlled to change from a contracted state to an extended state under the action of the gravity of the tire, and at the moment, the first control oil in the telescopic joint is extruded into the rotating joint to control the second clamping assembly to rotate; the whole structure can be automatically carried out after the first clamping assembly and the second clamping assembly are turned over, so that the control difficulty is reduced.
Preferably, the telescopic joint comprises a hydraulic telescopic rod, a mounting plate fixedly connected with the telescopic tail end of the hydraulic telescopic rod and a guide rod fixed on the surface of the mounting plate, the hydraulic telescopic rod is fixedly connected with the turnover joint through a first mounting frame, and the guide rod penetrates through the first mounting frame and is in sliding connection with the first mounting frame; through the structure, the first clamping assembly can be controlled to linearly move integrally along the preset track, the moving process is stable, and the stability of the clamping state of the tire is ensured.
Preferably, the hydraulic telescopic rod is internally and slidably connected with a control piston in a sealing manner, the control piston divides the hydraulic telescopic rod into a first control chamber and a second control chamber, the second control chamber is communicated with the rotary joint through a conveying pipeline, and the first control chamber is externally connected with hydraulic control equipment through a control joint.
Preferably, an elastic element is sleeved outside the telescopic tail end, and the second control chamber is communicated with a pressure relief container through a pressure relief joint; through above-mentioned structural design, can realize the centre gripping spacing of adaptability to the tire of different thickness sizes, satisfy the adaptability centre gripping demand to different tires, simultaneously, can realize the distance of a buffering at the in-process of second clamping component, first clamping component centre gripping to guarantee that second grip tab, first grip tab can shift out the tire along predetermined track under relative state, avoid producing the interference to the tire, guarantee the stability to the tire centre gripping.
Preferably, a conduction valve group for controlling opening and closing is arranged in the conveying pipeline, and the conduction valve group and the turnover joint are electrically connected; through the structure, the first clamping component and the second clamping component can be controlled to be turned off in the process of turning over the joint, so that the stability of the first clamping component and the second clamping component in the turning over process is ensured, the stable state of clamping the tire is ensured, and the accident that the tire breaks away from in the production and detection process is avoided.
Preferably, the first clamping assembly and the second clamping assembly are internally provided with rotating devices, and the rotating devices are used for respectively controlling the first clamping piece and the second clamping piece to rotate; the first clamping piece and the second clamping piece are eccentrically arranged, can rotate at the outer side of the second clamping assembly, and can rotate towards one side of the tire to extend into the tire to finish clamping limit in the process of clamping the tire; meanwhile, the tire can be turned away from the tire after shrinkage, and the tire is staggered, so that the alternate clamping of the tire is realized.
Preferably, the rotating device comprises a rotating mounting box, a rotating control shaft rotatably connected with the rotating mounting box, and an electric control assembly for driving the rotating control shaft to rotate.
Preferably, the first clamping assembly comprises a first telescopic cylinder, a first positioning plate is fixed at the base end of the first telescopic cylinder, a second positioning plate is fixed at the telescopic end of the first telescopic cylinder, the first positioning plate is in sliding connection with the second positioning plate, the two first clamping pieces are respectively fixedly connected with the first positioning plate and the second positioning plate, and the corresponding rotary control shaft penetrates through the rotary mounting box and is fixedly connected with the second positioning plate.
Preferably, the second clamping assembly comprises a second telescopic cylinder, the second telescopic cylinder is connected with the rotary joint through a second mounting frame, a third positioning plate is fixed at the base end of the second telescopic cylinder, a fourth positioning plate is fixed at the telescopic end of the second telescopic cylinder, the third positioning plate is in sliding connection with the fourth positioning plate, the second clamping plates are respectively fixedly connected with the third positioning plate and the fourth positioning plate, and a corresponding rotary control shaft penetrates through the rotary mounting box and is fixedly connected with the third positioning plate.
Preferably, a distance sensor is installed between the first clamping component and the second clamping component, and the distance sensor is electrically connected with the first clamping component and the second clamping component.
The beneficial effects of the invention are as follows: according to the invention, two groups of independent clamping manipulators are not required to be installed, so that the equipment is simplified, and the overall control difficulty is reduced; meanwhile, the tire can be clamped alternately in the air, and the clamping efficiency of the tire is improved; and after the first clamping assembly clamps the tire and overturns to the top position, the telescopic joint can be controlled to change from a contracted state to an extended state under the action of the gravity of the tire, so that the control difficulty is reduced, and the tire clamping efficiency is improved.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of a first clamping assembly and a telescopic joint according to the present invention.
Fig. 3 is a schematic perspective view of a second clamping assembly according to the present invention.
Fig. 4 is a schematic diagram of a first clamping state of the first clamping assembly and the second clamping assembly according to the present invention.
Fig. 5 is a schematic diagram of a second clamping state of the first clamping assembly and the second clamping assembly according to the present invention.
Fig. 6 is a schematic diagram illustrating a third clamping state of the first clamping assembly and the second clamping assembly according to the present invention.
Fig. 7 is a schematic diagram of a fourth clamping state of the first clamping assembly and the second clamping assembly according to the present invention.
Fig. 8 is an enlarged schematic view of the structure of fig. 6 at a.
Fig. 9 is an enlarged schematic view of the structure of fig. 6B according to the present invention.
In the figure: 100. carrying arms; 110. turning over the joint; 200. a first clamping assembly; 210. a first mounting frame; 220. a first clamping piece; 230. a first telescopic cylinder; 240. a first positioning plate; 250. a second positioning plate; 300. a second clamping assembly; 310. a second mounting frame; 320. a second clamping piece; 330. the second telescopic cylinder; 340. a fourth positioning plate; 350. a third positioning plate; 400. a telescopic joint; 410. a hydraulic telescopic rod; 411. a first control chamber; 412. a second control chamber; 413. a control piston; 414. a control joint; 415. a delivery conduit; 416. a pressure relief joint; 417. a telescoping end; 418. an elastic element; 420. a guide rod; 430. a mounting plate; 500. rotating the joint; 600. a rotating device; 610. rotating the control shaft; 620. an electrical control assembly; 630. rotating the mounting box; 700. and (3) a tire.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that, the detection of the tire 700 is exemplified herein, and the actual detection process includes, but is not limited to, the tire 700, and the annular automobile parts similar to the tire 700 can be detected by the clamping manipulator.
Referring to fig. 1-9, an automobile part clamping manipulator with a turn-over function comprises a carrying arm 100 and a clamping device arranged at the tail end of the carrying arm 100, wherein a turn-over joint 110 is arranged between the carrying arm 100 and the clamping device, and the tire 700 can be clamped by the clamping device so as to carry the tire 700 from a conveying line to the surface of a detection device to finish detection of the surface of the tire 700; meanwhile, the tire 700 can be turned over by arranging the turn-over joint 110 so as to adjust different side faces of the tire 700 to face towards the detection device, and the defect detection on the two sides of the tire 700 is completed.
With the conventional clamping mechanical arms, the tire 700 needs to be alternately clamped by two groups of mechanical arms to finish the detection of the two side surfaces of the tire 700; or the direction of the tire 700 is adjusted in a preset area by a single group of clamping manipulators, and then the clamping is completed, so that the double-sided detection is realized; the above adjustment process requires the manipulator to complete the alternate clamping action in the predetermined area, which increases the stroke of the clamping manipulator action, increases the operation area occupied by the whole equipment, affects the efficiency of detecting the tire 700, and increases the equipment and cost required for detecting the tire 700.
Specifically, the present invention relates to a method for manufacturing a semiconductor device; the clamping device comprises a first clamping assembly 200 with two first clamping tabs 220 and a second clamping assembly 300 with two second clamping tabs 320; the first clamping piece 220 or the second clamping piece 320 can be abutted against the inner wall of the tire 700 from the inner side in the process of being away from each other, so that the clamping limit of the tire 700 can be realized from the inner side; the first clamping piece 220 or the second clamping piece 320 can be far away from the inner wall of the tire 700 in the process of approaching each other so as to complete the alternate clamping of the tire 700; by arranging the first clamping assembly 200 and the second clamping assembly 300 to be matched, the tire 700 can be clamped alternately in the air, so that the surfaces on two sides of the tire 700 can be inspected successively; by the arrangement mode, two groups of independent clamping manipulators are not required to be installed, equipment is simplified, and overall control difficulty is reduced; meanwhile, the tire 700 can be clamped alternately in the air, and the clamping efficiency of the tire 700 is improved.
A telescopic joint 400 is arranged between the first clamping assembly 200 and the turnover joint 110, and a rotary joint 500 is arranged between the second clamping assembly 300 and the turnover joint 110; after the first clamping assembly 200 is turned over to the top position for clamping the tire 700, the first control oil in the telescopic joint 400 is squeezed into the rotary joint 500 to control the second clamping assembly 300 to rotate to the first clamping assembly 200 side for completing the alternate clamping of the tire 700.
Through the above structural design, after the first clamping assembly 200 clamps the tire 700 to flip to the top position, the telescopic joint 400 can be controlled to change from the contracted state to the extended state under the action of the gravity of the tire 700, at this time, the first control oil in the telescopic joint 400 is squeezed into the rotary joint 500 to control the second clamping assembly 300 to rotate, specifically, the second clamping assembly 300 is controlled to rotate to the lower side of the first clamping assembly 200 to achieve correspondence, and then the alternate clamping of the tire 700 is completed through the second clamping assembly 300; the whole structure can be automatically carried out after the first clamping assembly 200 and the second clamping assembly 300 are turned over, so that the control difficulty is reduced; the telescopic joint 400 selects the elastic hydraulic telescopic rod 410, after the alternating clamping is finished, the telescopic joint 400 automatically contracts under the action of elasticity, and the first clamping assembly 200 and the second clamping assembly 300 can be far away and staggered from each other, so that the continuous detection and clamping process is finished.
Referring specifically to fig. 2, in particular; the telescopic joint 400 includes a hydraulic telescopic rod 410, a mounting plate 430 fixedly connected with a telescopic end 417 of the hydraulic telescopic rod 410, and a guide rod 420 fixed on the surface of the mounting plate 430, wherein the hydraulic telescopic rod 410 is fixedly connected with the turn-over joint 110 through the first mounting frame 210, the guide rod 420 penetrates through the first mounting frame 210 and is in sliding connection with the first mounting frame, the first clamping assembly 200 can be mounted through the mounting plate 430, meanwhile, under the action of the guide rod 420, the first clamping assembly 200 can be controlled to linearly move integrally along a preset track, the moving process is stable, and the clamping state of the tire 700 is ensured to be stable.
With particular reference to fig. 8, further; a control piston 413 is connected in a sealing sliding manner in the hydraulic telescopic rod 410, the control piston 413 divides the hydraulic telescopic rod 410 into a first control chamber 411 and a second control chamber 412, the second control chamber 412 is communicated with the rotary joint 500 through a conveying pipeline 415, and the first control chamber 411 is externally connected with hydraulic control equipment through a control joint 414; through setting up above-mentioned structure, can squeeze into second control fluid towards in the first control chamber 411 through hydraulic control equipment to control piston 413, flexible end 417's stroke position realizes the accurate control to the flexible state of first clamping component 200 and the rotation state of second clamping component 300, can further shorten the time of overall control, improves the efficiency of tire 700 centre gripping in turn simultaneously.
An elastic element 418 is sleeved outside the telescopic tail end 417, the second control chamber 412 is communicated with a pressure relief container through a pressure relief connector 416, the inner structure of the pressure relief container can be a movable elastic telescopic structure, and the variable elastic force of the pressure relief container is controlled to be larger than the elastic force of the elastic element 418; in the process of controlling the control piston 413 to descend, first control oil is extruded into the rotary joint 500 to control the second clamping assembly 300 to rotate to one side of the first clamping assembly 200, after the second clamping assembly 300 rotates to the limit position and is located at the bottom of the first clamping assembly 200, the first control oil is extruded into the pressure release container, and in the process, the telescopic tail end 417 can drive the first clamping assembly 200 and the tire 700 below to move downwards further so as to be located in the clamping range of the second clamping assembly 300, so that the second clamping assembly 300 can correspond to the tire 700 accurately, and continuous clamping is completed.
Through the above-mentioned structural design, can realize the centre gripping spacing of adaptability to the tire 700 of different thickness sizes, satisfy the adaptability centre gripping demand to different tire 700, simultaneously, can realize the distance of a buffering at the in-process of second clamping assembly 300, the centre gripping of first clamping assembly 200 to guarantee that second grip tab 320, first grip tab 220 can shift out tire 700 along predetermined track under relative state, avoid producing the interference to tire 700, guarantee the stability to tire 700 centre gripping.
The on-off valve group used for controlling the opening and the closing is arranged in the conveying pipeline 415, the on-off valve group and the turning joint 110 are electrically connected, the opening and the closing in the conveying pipeline 415 can be controlled by arranging the on-off valve group, and the rotating state of the rotary joint 500 and the telescopic state of the telescopic joint 400 can be locked at the moment so as to ensure that the first clamping assembly 200 and the second clamping assembly 300 are positioned at preset positions and cannot be changed; the on valve group is electrically connected with the turning joint 110, and can be closed and controlled in the process that the turning joint 110 controls the turning of the first clamping assembly 200 and the second clamping assembly 300, so that the stability of the first clamping assembly 200 and the second clamping assembly 300 in the turning process is ensured, the stable state of clamping the tire 700 is ensured, and the accident that the tire 700 breaks away from in the production and detection process is avoided.
The rotating devices 600 are arranged in the first clamping assembly 200 and the second clamping assembly 300, the first clamping piece 220 and the second clamping piece 320 are controlled to rotate respectively through the rotating devices 600, the first clamping piece 220 and the second clamping piece 320 are eccentrically arranged and can rotate outside the second clamping assembly 300, and in the process of clamping the tire 700, the rotating devices can rotate towards one side of the tire 700 to extend into the tire 700 to finish clamping limit; meanwhile, the tire 700 may be turned away from the tire 700 after shrinkage, staggered from the tire 700, to achieve alternate gripping of the tire 700.
Referring specifically to fig. 9, in particular; the rotating device 600 includes a rotating mounting case 630, a rotating control shaft 610 rotatably connected to the rotating mounting case 630, and an electric control assembly 620 driving the rotating control shaft 610 to rotate, the electric control assembly 620 including an electric control motor and a pair of bevel gears transmitting power; the first clamping piece 220 and the second clamping piece 320 are eccentrically arranged at two sides of the rotation control shaft 610, so that the first clamping piece 220 and the second clamping piece 320 can be controlled to be overturned into the tire 700 and enter corresponding clamping areas, and subsequent clamping control is completed.
Referring specifically to fig. 2, in particular; the first clamping assembly 200 comprises a first telescopic cylinder 230, a first positioning plate 240 is fixed at the base end of the first telescopic cylinder 230, a second positioning plate 250 is fixed at the telescopic end of the first telescopic cylinder 230, the first positioning plate 240 is in sliding connection with the second positioning plate 250, two first clamping pieces 220 are respectively and fixedly connected with the first positioning plate 240 and the second positioning plate 250, and a corresponding rotary control shaft 610 penetrates through a rotary mounting box 630 and is fixedly connected with the second positioning plate 250; in the process of clamping control, the first positioning plate 240 and the second positioning plate 250 can be controlled to move in a telescopic manner through the first telescopic cylinder 230, so that the two first clamping pieces 220 on the surfaces of the first positioning plate and the second positioning plate are driven to be close to or far away from each other, and self-adaptive clamping and locking of the inner wall of the tire 700 are completed under the action of the first clamping pieces 220; the first positioning plate 240 may be designed as a sandwich to ensure the stability of the sliding process of the second positioning plate 250; meanwhile, the rotation device 600 controls the second positioning plate 250 to rotate along the axis, so as to drive the second positioning plate 250, the first positioning plate 240 and the first clamping piece 220 on the surfaces of the two to rotate to a predetermined position, thereby completing the clamping limit or dislocation separation.
Referring specifically to fig. 3, in particular; the second clamping assembly 300 comprises a second telescopic cylinder 330, the second telescopic cylinder 330 is connected with the rotary joint 500 through a second mounting frame 310, a third positioning plate 350 is fixed at the base end of the second telescopic cylinder 330, a fourth positioning plate 340 is fixed at the telescopic end of the second telescopic cylinder 330, the third positioning plate 350 is in sliding connection with the fourth positioning plate 340, two second clamping plates 320 are respectively and fixedly connected with the third positioning plate 350 and the fourth positioning plate 340, and a corresponding rotary control shaft 610 penetrates through a rotary mounting box 630 and is fixedly connected with the third positioning plate 350; likewise, the method comprises the steps of; in the process of clamping control, the second telescopic cylinder 330 can control the fourth positioning plate 340 and the third positioning plate 350 to move in a telescopic way, so that the two second clamping pieces 320 on the surfaces of the second positioning plate and the third positioning plate are driven to be far away from or close to each other, and clamping, locking or dislocation separation of the tire 700 is realized; the interlayer design of the fourth positioning plate 340 ensures the stability of the third positioning plate 350 in the moving process, and the third positioning plate 350 can drive the fourth positioning plate 340 and the second clamping piece 320 on the surface to synchronously and eccentrically rotate in the rotating process so as to rotate to a preset position, thereby completing the clamping limit or dislocation separation of the tire 700.
The outer side surfaces of the second clamping piece 320 and the first clamping piece 220 are preferably arc-shaped and matched with the inner wall of the tire 700, so that the clamping limit degree can be increased, the clamping force can be increased, and the clamping stability can be ensured; the clamping structure is small in size, flexible in cylinder expansion control, corresponding and quick in clamping and stable in clamping state.
A distance sensor is arranged between the first clamping assembly 200 and the second clamping assembly 300, and the distance sensor is electrically connected with the first clamping assembly 200 and the second clamping assembly 300, and can be matched with the hydraulic control equipment communicated with the control joint 414 and the pressure release container communicated with the pressure release joint 416 by arranging the structure; the thickness dimension of the tire 700 is further used for controlling the distance between the first clamping assembly 200 and the second clamping assembly 300 so as to control the amount of the first clamping piece 220 and the second clamping piece 320 extending into the tire 700, thereby realizing accurate control and further meeting the requirement of adaptively clamping the tires 700 with different dimensions.
With specific reference to fig. 4-7, the present invention is further described below in connection with specific workflows.
In fig. 4, the first clamping assembly 200 and the second clamping assembly 300 are shown in a first clamping state, in which the first clamping assembly 200 is positioned at the bottom, and the tire 700 is positioned on the surface of the first clamping assembly 200, so that the first side surface of the tire 700 can be detected.
Fig. 5 shows the second clamping state of the first clamping assembly 200 and the second clamping assembly 300, wherein the first clamping assembly 200 is at the position of the top after turning, and the tire 700 is positioned on the surface of the first clamping assembly 200, and the first step of turning and alternating clamping is performed.
Fig. 6 is a third clamping state of the first clamping assembly 200 and the second clamping assembly 300, at this time, the telescopic joint 400 descends under the action of the tire 700 and the hydraulic control device, in this process, the first control oil is extruded into the rotary joint 500 to control the second clamping assembly 300 to rotate to the opposite side of the first clamping assembly 200, after the butt joint is completed, the second clamping assembly 300 completes the self-adaptive clamping of the tire 700, at this time, the first clamping assembly 200 is in a loose state, the alternate clamping is completed, at the same time, the telescopic joint 400 is controlled to shrink, and the first clamping assembly 200 and the second clamping assembly 300 are staggered again.
Fig. 7 shows the fourth clamping state of the first clamping assembly 200 and the second clamping assembly 300, wherein the second clamping assembly 300 is at the bottom position, and the tire 700 is located on the surface of the second clamping assembly 300, and the second side surface of the tire 700 can be inspected, so that the continuous inspection of the two side surfaces of the tire 700 is completed.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (7)
1. Automobile parts centre gripping manipulator with turn-over function, its characterized in that:
The device comprises a carrying arm (100) and a clamping device arranged at the tail end of the carrying arm (100), wherein a turnover joint (110) is arranged between the carrying arm (100) and the clamping device, the clamping device comprises a first clamping assembly (200) with two first clamping pieces (220), and a second clamping assembly (300) with two second clamping pieces (320); a telescopic joint (400) is arranged between the first clamping assembly (200) and the turnover joint (110), and a rotary joint (500) is arranged between the second clamping assembly (300) and the turnover joint (110);
After the tire (700) is clamped and turned to the top position, the first clamping assembly (200) is pushed into the rotary joint (500) by the first control oil in the telescopic joint (400) under the action of the gravity of the tire (700) to control the second clamping assembly (300) to rotate to the side of the first clamping assembly (200) so as to finish the alternate clamping of the tire (700);
The telescopic joint (400) comprises a hydraulic telescopic rod (410), a mounting plate (430) fixedly connected with the telescopic tail end (417) of the hydraulic telescopic rod (410) and a guide rod (420) fixed on the surface of the mounting plate (430), the hydraulic telescopic rod (410) is fixedly connected with the turnover joint (110) through a first mounting frame (210), and the guide rod (420) penetrates through the first mounting frame (210) and is in sliding connection with the first mounting frame;
The hydraulic telescopic rod (410) is internally and slidably connected with a control piston (413) in a sealing manner, the control piston (413) divides the hydraulic telescopic rod (410) into a first control chamber (411) and a second control chamber (412), the second control chamber (412) is communicated with the rotary joint (500) through a conveying pipeline (415), and the first control chamber (411) is externally connected with hydraulic control equipment through a control joint (414);
An elastic element (418) is sleeved outside the telescopic tail end (417), and the second control chamber (412) is communicated with a pressure relief container through a pressure relief connector (416).
2. The automobile part clamping manipulator with the turn-over function according to claim 1, wherein a conduction valve group for controlling opening and closing is installed in the conveying pipeline (415), and the conduction valve group and the turn-over joint (110) are electrically connected.
3. The manipulator for clamping automobile parts with the turn-over function according to claim 1, wherein the first clamping assembly (200) and the second clamping assembly (300) are internally provided with rotating devices (600), and the rotating devices (600) are used for respectively controlling the first clamping piece (220) and the second clamping piece (320) to rotate.
4. A vehicle component holding manipulator with a turn-over function according to claim 3, characterized in that the rotating device (600) comprises a rotating mounting box (630), a rotating control shaft (610) rotatably connected to the rotating mounting box (630), and an electric control assembly (620) for driving the rotating control shaft (610) to rotate.
5. The automobile part clamping manipulator with the turn-over function according to claim 4, wherein the first clamping assembly (200) comprises a first telescopic cylinder (230), a first positioning plate (240) is fixed at a base end of the first telescopic cylinder (230), a second positioning plate (250) is fixed at a telescopic end of the first telescopic cylinder (230), the first positioning plate (240) is slidably connected with the second positioning plate (250), the two first clamping pieces (220) are fixedly connected with the first positioning plate (240) and the second positioning plate (250) respectively, and a corresponding rotary control shaft (610) penetrates through the rotary mounting box (630) and is fixedly connected with the second positioning plate (250).
6. The automobile part clamping manipulator with the turn-over function according to claim 5, wherein the second clamping assembly (300) comprises a second telescopic cylinder (330), the second telescopic cylinder (330) is connected with the rotary joint (500) through a second mounting frame (310), a third positioning plate (350) is fixed at a base end of the second telescopic cylinder (330), a fourth positioning plate (340) is fixed at a telescopic end of the second telescopic cylinder (330), the third positioning plate (350) is slidably connected with the fourth positioning plate (340), the two second clamping pieces (320) are fixedly connected with the third positioning plate (350) and the fourth positioning plate (340) respectively, and a corresponding rotary control shaft (610) penetrates through the rotary mounting box (630) and is fixedly connected with the third positioning plate (350).
7. The automobile part clamping manipulator with the turn-over function according to claim 1, wherein a distance sensor is installed between the first clamping assembly (200) and the second clamping assembly (300), and the distance sensor is electrically connected with the first clamping assembly (200) and the second clamping assembly (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410068040.3A CN117565095B (en) | 2024-01-17 | 2024-01-17 | Automobile part clamping manipulator with turn-over function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410068040.3A CN117565095B (en) | 2024-01-17 | 2024-01-17 | Automobile part clamping manipulator with turn-over function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117565095A CN117565095A (en) | 2024-02-20 |
| CN117565095B true CN117565095B (en) | 2024-05-07 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101200243A (en) * | 2006-12-12 | 2008-06-18 | 爱信艾达株式会社 | Workpiece tilting device |
| KR101559352B1 (en) * | 2015-04-21 | 2015-10-15 | 주식회사 한화 | An apparatus for transporting a tire |
| CN110815276A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel carrying manipulator |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101200243A (en) * | 2006-12-12 | 2008-06-18 | 爱信艾达株式会社 | Workpiece tilting device |
| JP2008143674A (en) * | 2006-12-12 | 2008-06-26 | Aisin Aw Co Ltd | Workpiece reversing device |
| KR101559352B1 (en) * | 2015-04-21 | 2015-10-15 | 주식회사 한화 | An apparatus for transporting a tire |
| CN110815276A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel carrying manipulator |
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