CN201677440U - Assembling and disassembling robotic arm for rubber tire vulcanizing machine - Google Patents
Assembling and disassembling robotic arm for rubber tire vulcanizing machine Download PDFInfo
- Publication number
- CN201677440U CN201677440U CN200920280042XU CN200920280042U CN201677440U CN 201677440 U CN201677440 U CN 201677440U CN 200920280042X U CN200920280042X U CN 200920280042XU CN 200920280042 U CN200920280042 U CN 200920280042U CN 201677440 U CN201677440 U CN 201677440U
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- tyre
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- claw
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Abstract
The utility model relates to an assembling and disassembling robotic arm for rubber tire vulcanizing machines, which adopts only one driving air cylinder and uses a driving rod to transmit the driven force to one engaged wheel of a set of engaged wheels and synchronously drives a plurality of jaws to extend or retract along the radial direction to realize the consistency and synchrony of the assembling and disassembling of rubber tires, therefore, enhancing the smoothness and stability of jaws clamping the tires and preventing the tires from being scratched due to the distance deviation of jaws' moving. The robotic arm further includes a tumbler, one end of which is connected to the pillar of the assembling and disassembling robotic arm; the other end of the tumbler is connected to a tray under which are installed a plurality of jaws and the driving air cylinder arranged on the side part of the tumbler. The plurality of engaged wheels are installed respectively on the trays through a bearing and a pin roll. The lower part of each pin roll is connected with a connecting rod and the other end of the connecting rod is connected with a jaw through a pin roll. Of the set of engaged wheels consisting of a plurality of engaged wheels, the upper part of the pin roll of an engaged wheel is connected with the driving rod and the other end of the driving rod is connected with the air cylinder rod of the air cylinder.
Description
Technical field
The utility model relates to a kind of loading and unloading mechanical arm of tyre that is applied to tyre vulcanizer, belongs to the rubber manufacturing machinery field.
Background technology
In the manufacture process of existing all kinds of aircrafts, automobile rubber tire, the fetus that anti-package, applying and rolling and processing become need be sent in the vulcanizer and be vulcanized, to be processed to form tire.Along with the fast development of rubber tyre manufacturing technology, particularly the lifting of meridian tyres for passenger cars market rate is had higher requirement for tire production efficient and workmanship.
The existing loading and unloading mechanical arm of tyre that is assemblied in tyre vulcanizer has complicated design and structure diversity, adopts the claw that is connected on the pivoted arm to open the cylinder of holding one's breath at large and rotates rotating disk, radially moves back and forth with the claw that drives the rotating disk end.The problem that the design of this quasi-tradition loading and unloading mechanical arm of tyre exists mainly is, is difficult to the uniformity that guarantees that several claws move back and forth diametrically, causes whole manipulator to be stuck because of the part claw strength of spraining easily; In addition, overall structure is comparatively complicated, and not only deadweight increases the design difficulty of vulcanizer pivoted arm bearing capacity greatly, and parts are installed, maintenance is all wasted time and energy.
Formerly applying for a patent of following scheme and for example disclosed, application number ZL200910039388.5, name is called tyre mounting mechanical arm of tyre vulcanizer, and its scheme is that mounting mechanical arm of tyre comprises that pivoted arm, fixed disk, rotating disk, calvus open hold one's breath cylinder and calvus combination; One end of described pivoted arm is installed on the vulcanizer, and the other end of pivoted arm is connected and fixed dish.A pair of calvus is opened the forward and backward side that the cylinder of holding one's breath is laid in manipulator respectively, and the end that calvus is opened the cylinder of holding one's breath connects rotating disk by rotating shaft, and the other end that calvus is opened the cylinder of holding one's breath is connected and fixed dish by rotating shaft via swing arm; The edge of described rotating disk is provided with roller shaft, and the edge of fixed disk is provided with the guide groove that rolls for the roller on the roller shaft, and described rotating disk hang on the fixed disk by roller rotationally; Described calvus combination is hung on the guide plate between fixed disk and the rotating disk, guide plate is by the spacing guiding of guide holder that is fastenedly connected with fixed disk, the lower end of guide plate connects by the guiding arbor wheel gradually drives deep-slotted chip breaker on the rotating disk, and the guiding arbor wheel of calvus combination by guide plate is in the slip of gradually driving deep-slotted chip breaker and radial expansion.
Structure in the above-mentioned patent between calvus combination and fixed disk, the rotating disk is still comparatively complicated, opens the driving force that the cylinder of holding one's breath passes over and is easy to decay, certainly will improve the chucking power of calvus to fetus by increasing cylinder output;
After long-time the use, be easy to form comparatively serious wearing and tearing between rotating disk and the fixed disk, be easy to cause calvus to open and close the error of size, thereby cause the calvus deflection angle and scratch fetus.
The utility model content
Sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre described in the utility model, its purpose of design is to address the above problem and only adopts 1 to drive cylinder, transfer a driving force to a connecting traction wheel in the interlock wheels by drive rod, thereby synchronously driving several claws extends radially or withdraws, realize the synchronism and the uniformity of the action of loading and unloading fetus, improve flatness, the stability of the action of claw clamping fetus, avoid scratching fetus because of the deviation of claw displacement.
Purpose of design also is, adopts the interlock wheels to be passed to claw well to improve air cylinder driven power, need not to be equipped with the cylinder of big power output, reduces equipment cost.
Another purpose of design is, can reduce the complexity of robot manipulator structure, reduces the design difficulty of vulcanizer pivoted arm bearing capacity, parts install and maintenance all time saving and energy saving.
For realizing above-mentioned purpose of design, described sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre mainly includes:
One end is connected in the pivoted arm on the column of loading and unloading mechanism for tire, and the other end of pivoted arm connects pallet, and several claws are installed in the below of pallet, and the driving cylinder that is arranged on the pivoted arm sidepiece.
Be that with the difference of prior art several connecting traction wheels are installed on the pallet by bearing and bearing pin separately, the lower end of each bearing pin connects a connecting rod, and the other end of connecting rod connects a claw by bearing pin.
In the interlock wheels of being made up of several connecting traction wheels, the upper end of the bearing pin of one of them connecting traction wheel connects a drive rod, and the other end of drive rod connects the cylinder rod that drives cylinder.
As above-mentioned basic scheme, the driving force that drives cylinder is passed on the connecting traction wheel in the interlock wheels by cylinder rod, drive rod, bearing pin successively.By this connecting traction wheel, other connecting traction wheels can be realized synchronization action in the interlock wheels, and the direction of rotation of several connecting traction wheels, angle and rotating speed all can be controlled by the connecting traction wheel that is connected drive rod.
When several connecting traction wheels synchronously rotated clockwise or counterclockwise, the claw of its below can radially deflect and realize protruding reposefully or inwardly withdrawal, thereby finished the technological operation of loading and unloading fetus.
Adopt to drive the control mode that a connecting traction wheel is controlled several connecting traction wheels, can overcome the inconsistency of claw clamping fetus action in the prior art, reach the synchronism of loading and unloading fetus action.Simultaneously, claw can not scratch fetus because of the strength of spraining causes holding action distortion or displacement deviation.
Adopt to drive the control mode that a connecting traction wheel is controlled several connecting traction wheels, can only dispose one and drive cylinder, driving force is passed to claw well through the interlock wheels.
Interlock wheels described in the utility model can be taked multiple frame mode, for example following 2 kinds of preferred embodiments:
A kind of scheme is that connecting traction wheel is the synchronous pulley that is wound with synchronous band, is provided with 1 expansion tightening wheel between per 2 synchronous pulleys.
Another kind of scheme is that connecting traction wheel is the gear that is engaged with tooth bar.
Certainly based on design concept of the present utility model, the interlock wheels are not limited to above-mentioned 2 kinds of schemes.
For the uniformity that further improves several claws loading and unloading fetuses actions, keep the radially synchronous coordination of deflection angle, displacement of several claws, also the improvement project that can take is, connects same spring between each claw.
After tackling long-time use, cause the increase of mutual range error between the parts because of wearing and tearing, the cylinder rod of described driving cylinder is connected drive rod by one group of nut with screw rod.
When distance needs fine setting between cylinder rod that drives cylinder and the drive rod, can dwindle and enlarge each other initial distance by rotating nut and screw rod, thereby guarantee the claw radially angle and the displacement of deflection by regulating the connecting traction wheel anglec of rotation, so that enough chucking powers to be provided at fetus, to prevent to occur getting loose or scratch fetus because of chucking power is excessive because of chucking power is too small.
Keep alignment for optimizing between described loading and unloading mechanical arm of tyre and the vulcanizer column, the center below pallet is provided with a positioning sleeve.By positioning sleeve, can dock with the center testing arrangement with the coaxial installation of implementing the loading and unloading mechanical arm of tyre or the axiality detection of carrying out overhaul of the equipments.
Content to sum up, the utility model sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre has the following advantages:
1, robot manipulator structure is simplified, and only adopts 1 to drive cylinder and can realize synchronously driving several claws and extend radially or withdraw, and can guarantee to load and unload the synchronism and the uniformity of fetus action.
2, several claw clamping fetus actions keep level and smooth and stable, can avoid scratching fetus because of the deviation of claw deflection angle, displacement.
3, adopt the interlock wheels can realize that driving force is passed to claw well, need not to be equipped with the cylinder of big power output, thereby reduce equipment cost effectively.
4, reduced the complexity of robot manipulator structure, helped reducing vulcanizer pivoted arm bearing load, it is all time saving and energy saving that parts are installed and overhauled.
Description of drawings
Now in conjunction with the accompanying drawings the utility model is described further,
Fig. 1 is a structural representation of using vulcanizer column part of the present utility model;
Fig. 2 is the schematic diagram of described sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre;
Fig. 3 be among Fig. 2 A-A to generalized section;
Fig. 4 be among Fig. 2 B-B to generalized section;
Fig. 5 is bowing to schematic diagram of Fig. 2;
Extremely shown in Figure 5 as Fig. 1, pallet 1, drive rod 2, bearing pin 6, positioning sleeve 7, claw 9, connecting rod 10, expansion tightening wheel 11, spring 13,
Bearing 21, bearing pin 22 is with 28 synchronously, synchronous pulley 29,
Column 100, pivoted arm 200 drives cylinder 210, nut 220, screw rod 230.
The specific embodiment
At pivoted arm 200 sidepieces driving cylinder 210 is installed, the cylinder rod that drives cylinder 210 is connected drive rod 2 by one group of nut 220 with screw rod 230.
Several synchronous pulleys 29 are installed on the pallet 1 by bearing 21 and bearing pin 22 separately, are with 28 to be wrapped on all synchronous pulleys 29 synchronously, are provided with 1 expansion tightening wheel 11 between per 2 synchronous pulleys 29.
Upper end at some bearing pins 22 connects drive rod 2.
The lower end of each bearing pin 22 connects a connecting rod 10, and the other end of connecting rod 10 connects a claw 9 by bearing pin 6, and several claws 9 are arranged on the below of pallet 1.
Between each claw 9, connect same spring 13.
Center below pallet 1 is provided with a positioning sleeve 7.
When the cylinder rod that drives cylinder 210 stretches out, promote drive rod 2 and turn clockwise, drive claw 9 radially clockwise deflection by synchronous pulley 29 this moment, and this moment, the molar behavior of several claws 9 was inside withdrawals, realized that promptly claw unloads the tire operation.
When driving the cylinder rod retraction of cylinder 210, promoting drive rod 2 is rotated counterclockwise, drive claw 9 radially counterclockwise deflection by synchronous pulley 29 this moment, and this moment, the molar behavior of several claws 9 was protruding, and claw 9 applies certain chucking power and realizes adorning the tire operation to fetus.
Based on above-mentioned design concept, those of ordinary skills can need not the technical scheme that creative work can be designed plurality of replaceable, and this type of technical scheme all is the claimed interest fields of the utility model.
Claims (6)
1. a sulfurizing rubber tyre machine loads and unloads mechanical arm of tyre, include the pivoted arm (200) on the column (100) that an end is connected in loading and unloading mechanism for tire, the other end of pivoted arm (200) connects pallet (1), several claws (9) are installed in the below of pallet (1), and the driving cylinder (210) that is arranged on pivoted arm (200) sidepiece, it is characterized in that:
Several connecting traction wheels are installed on the pallet (1) by bearing (21) and bearing pin (22) separately, and the lower end of each bearing pin (22) connects a connecting rod (10), and the other end of connecting rod (10) connects a claw (9) by bearing pin (6);
Connect a drive rod (2) in the upper end of a bearing pin (22), the other end of drive rod (2) connects the cylinder rod that drives cylinder (210).
2. sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre according to claim 1, it is characterized in that: described connecting traction wheel is the synchronous pulley (29) that is wound with synchronous band (28), is provided with 1 expansion tightening wheel (11) between per 2 synchronous pulleys (29).
3. sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre according to claim 1, it is characterized in that: described connecting traction wheel is the gear that is engaged with tooth bar.
4. according to claim 2 or 3 described sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre, it is characterized in that: between each claw (9), connect same spring (13).
5. sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre according to claim 4, it is characterized in that: the cylinder rod of described driving cylinder (210) is connected drive rod (2) by one group of nut (220) with screw rod (230).
6. sulfurizing rubber tyre machine loading and unloading mechanical arm of tyre according to claim 5, it is characterized in that: the center in pallet (1) below is provided with a positioning sleeve (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920280042XU CN201677440U (en) | 2009-12-01 | 2009-12-01 | Assembling and disassembling robotic arm for rubber tire vulcanizing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920280042XU CN201677440U (en) | 2009-12-01 | 2009-12-01 | Assembling and disassembling robotic arm for rubber tire vulcanizing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201677440U true CN201677440U (en) | 2010-12-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920280042XU Expired - Fee Related CN201677440U (en) | 2009-12-01 | 2009-12-01 | Assembling and disassembling robotic arm for rubber tire vulcanizing machine |
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| CN (1) | CN201677440U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102416679A (en) * | 2011-12-23 | 2012-04-18 | 桂林橡胶机械厂 | Novel tire grabber for tire forming vulcanizer |
| CN103552191A (en) * | 2013-11-18 | 2014-02-05 | 三角（威海）华盛轮胎有限公司 | Tire loading and unloading mechanical arm of tire vertical pressure vulcanizing machine |
| CN104071569A (en) * | 2014-07-03 | 2014-10-01 | 安徽江淮汽车股份有限公司 | Gripping device |
| CN104608122A (en) * | 2015-01-22 | 2015-05-13 | 德盛镁汽车部件（芜湖）有限公司 | Cylinder cover grabbing device |
| CN104742280A (en) * | 2013-12-26 | 2015-07-01 | 软控股份有限公司 | Tire grabbing machine |
| CN110434891A (en) * | 2019-08-21 | 2019-11-12 | 东华大学 | Aircraft changes wheel integrated handgrip in parallel |
| CN110550228A (en) * | 2019-08-21 | 2019-12-10 | 东华大学 | Pure electric hand-push type six-degree-of-freedom airplane wheel changing robot |
| CN111998792A (en) * | 2020-08-25 | 2020-11-27 | 赛轮集团股份有限公司 | On-line detection method and on-line detection device for tire blank out-of-roundness of tire building machine |
-
2009
- 2009-12-01 CN CN200920280042XU patent/CN201677440U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102416679A (en) * | 2011-12-23 | 2012-04-18 | 桂林橡胶机械厂 | Novel tire grabber for tire forming vulcanizer |
| CN102416679B (en) * | 2011-12-23 | 2014-02-05 | 桂林橡胶机械厂 | Tire grabber for tire forming vulcanizer |
| CN103552191A (en) * | 2013-11-18 | 2014-02-05 | 三角（威海）华盛轮胎有限公司 | Tire loading and unloading mechanical arm of tire vertical pressure vulcanizing machine |
| CN104742280A (en) * | 2013-12-26 | 2015-07-01 | 软控股份有限公司 | Tire grabbing machine |
| CN104742280B (en) * | 2013-12-26 | 2017-10-10 | 软控股份有限公司 | Tire tyre catching apparatus |
| CN104071569A (en) * | 2014-07-03 | 2014-10-01 | 安徽江淮汽车股份有限公司 | Gripping device |
| CN104608122A (en) * | 2015-01-22 | 2015-05-13 | 德盛镁汽车部件（芜湖）有限公司 | Cylinder cover grabbing device |
| CN110434891A (en) * | 2019-08-21 | 2019-11-12 | 东华大学 | Aircraft changes wheel integrated handgrip in parallel |
| CN110550228A (en) * | 2019-08-21 | 2019-12-10 | 东华大学 | Pure electric hand-push type six-degree-of-freedom airplane wheel changing robot |
| CN110550228B (en) * | 2019-08-21 | 2023-08-04 | 东华大学 | Pure electric hand-push type six-degree-of-freedom aircraft wheel-changing robot |
| CN111998792A (en) * | 2020-08-25 | 2020-11-27 | 赛轮集团股份有限公司 | On-line detection method and on-line detection device for tire blank out-of-roundness of tire building machine |
| CN111998792B (en) * | 2020-08-25 | 2022-08-26 | 赛轮集团股份有限公司 | On-line detection method and on-line detection device for tire blank out-of-roundness of tire building machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101222 Termination date: 20161201 |
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| CF01 | Termination of patent right due to non-payment of annual fee |