CN203831408U - Robot flexible clamping claw for tire carrying - Google Patents
Robot flexible clamping claw for tire carrying Download PDFInfo
- Publication number
- CN203831408U CN203831408U CN201420276764.9U CN201420276764U CN203831408U CN 203831408 U CN203831408 U CN 203831408U CN 201420276764 U CN201420276764 U CN 201420276764U CN 203831408 U CN203831408 U CN 203831408U
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- connecting rod
- seat
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- main shaft
- clamping plate
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Abstract
The utility model relates to a robot flexible clamping claw for tire carrying. The robot flexible clamping claw for tire carrying comprises a spindle, an air cylinder, a mechanical claw, movable connecting rod seats, fixed connecting rod seats and long and short connecting rods. The spindle is hollow, a central shaft is arranged in the spindle, a threaded hole is machined at the shaft head end of the central shaft and connected with a piston rod of the air cylinder. One movable connecting rod seat is respectively installed at two ends of the central shaft and fixed with the central shaft through nuts. Six grooves arranged circumferentially and evenly are respectively formed in two ends of the spindle, and the movable connecting rod seats connected with the central shaft horizontally move in the groove back and forth. One fixed connecting rod seat is respectively connected to the middle and the rail portion of the spindle. A grabbing clamping plate is connected the connecting rod seats through the long and short connecting rods to form a moving pair. The shaft head end of the spindle is connected with an end cover, the air cylinder is installed in the spindle through a bolt from one side of the end cover, and the other end of the end cover is connected with a robot. The robot flexible clamping claw for tire carrying has the advantages of being simple in structure, high in carrying efficiency, stable in running, high in reliability, convenient to maintain and the like.
Description
Technical field
The utility model relates to a kind of production equipment of tire carrying, specifically a kind of robot flexibility jaw for tire carrying.
Background technology
China in 2013 annual accumulative total automobile production and marketing surpasses 2,100 ten thousand, has driven the flourish of tyre industry, and annual accumulative total is produced 9.65 hundred million of Outer Tyres.
Tire production line transport operation occupies an important position in the production process of modern enterprise, with manually completing this work, exist many drawbacks such as labour intensity is large, efficiency is low, poor stability, far can not meet the needs of production development, adopt the operational means of automation to become inevitable trend.
Carrying now the mechanical grip of tire, is all to realize carrying by grabbing folder tire outside diameter mostly, can only carry a tire at every turn, and need operator to control.
Summary of the invention
The purpose of this utility model is in order to improve tire handling efficiency, the special-purpose machinery jaw of a kind of novelty, practicality is provided, can once completes the transport operation of many tires, steady in work, the robot flexibility jaw reliable during clamping, structural rigidity is good, operating efficiency is high.
Mentality of designing of the present utility model: adopt the mode that clamps tire inner side, with air cylinder driven, link-type transmission, grabs clamping plate lengthening increase and remove tire amount, and flexible jaw is provided in robot, realizes increasingly automated.
The utility model, comprises end cap, main shaft, cylinder, grabs clamping plate, central shaft, and two end faces of described end cap are all processed with countersunk head through hole, and one end connects by bolt and main shaft and cylinder, and the other end and robot connect; Described main shaft is hollow structure, and portion arranges central shaft and cylinder within it, and the spindle nose end of central shaft is processed with screwed hole, is connected with the piston rod of cylinder; Central shaft spindle nose end connects by locking nut and the first movable rod seat, and shaft tail end connects by hold-down nut and the second movable rod seat, and described main shaft two ends have the axial groove of 3-6 road circumference uniform distribution, and groove width, the angle at two ends are consistent; At main shaft middle part (end of groove), be connected with the first stationary links seat, by the bolted on connection that is circumferentially arranged together; Main shaft axle tail and the second stationary links seat are bound up, and one end of the first long connecting rod connects grabs clamping plate, and the other end connects the first movable rod seat; One end of the first short connecting rod connects the middle part of the first long connecting rod, and the other end connects the first stationary links seat; One end of the second long connecting rod connects grabs clamping plate, and the other end connects the second movable rod seat; One end of the second short connecting rod connects the second long connecting rod middle part, and the other end connects the second stationary links seat.
The utility model, described in grab being connected of clamping plate and long connecting rod, long connecting rod and short connecting rod be connected and connecting rod was and is articulated and connected with being connected of connecting rod base, by bearing pin and circlip, realize.
The utility model, at described end of grabbing clamping plate, is provided with and radially extends male part, and its outside is circular arc type.
The utility model, the groove at main shaft two ends is corresponding with 6 connecting rod boss of two movable rod seats, two stationary links seats, and the reciprocating motion of movable rod seat is played to guide effect; The stationary links seat central authorities of main shaft end have tapped through hole, by controlling the length through the adjusting bolt in this hole, can finely tune the diameter that opens of flexible jaw.
The beneficial effects of the utility model are:
1), traditional mechanical grip, from tire outside, grab folder, volume is heavy, and can only pick up single tire; By change, grab folder mode, from tire inner side, grab folder, greatly reduced flexible clip corpus unguis long-pending, use light and flexible;
2), change traditional pawl type jaw, adopt long strip type to grab clamping plate, once can grab folder 3 ~ 5 tires, effectively improve handling efficiency;
3), traditional mechanical grip, its jaw is all more sharp-pointed, the utility model adopts grabs clamping plate, outside is circular arc type, avoids the damage to tire in grabbing clip process, has embodied the flexibility of this jaw;
4), this flexibility jaw is equipped in robot, realizes automated job, reduces labor strength.
The utility model is simple and reasonable for structure, and overall precision is high, has the features such as handling efficiency is high, structural rigidity good, stable, easy to maintenance, and can normal work continuously steady in a long-term under industrial environment.
Accompanying drawing explanation
Fig. 1 is the structural representation of the jaw open configuration of embodiment;
Fig. 2 is the side direction structural representation of the jaw open configuration of Fig. 1;
Fig. 3 is the I portion enlarged drawing of Fig. 1;
Fig. 4 is profile (stereogram) schematic diagram of the jaw open configuration of Fig. 1;
Fig. 5 is the structural representation of the jaw contraction state of embodiment;
Fig. 6 is the side direction structural representation of the jaw contraction state of Fig. 5;
Fig. 7 be embodiment the dimension sketch of supporting cylinder;
Fig. 8 is profile (stereogram) schematic diagram of the jaw contraction state of Fig. 5.
In figure, 1, end cap; 2, main shaft; 3, cylinder; 31, piston rod; 4, grab clamping plate; 5, locking nut; 6, the first movable rod seat; 07, the first long connecting rod; 08, the first short connecting rod; 09, the first stationary links seat; 10, central shaft; 11, the second movable rod seat; 12, the second long connecting rod; 13, the second short connecting rod; 14, hold-down nut; 15, the second stationary links seat; 16, adjusting bolt; 17, bearing pin; 18, circlip; 19, male part.
The specific embodiment
With reference to accompanying drawing, a kind of robot flexibility jaw for tire carrying, comprises end cap 1, main shaft 2, cylinder 3, grabs clamping plate 4 and central shaft 10; Two end faces of described end cap 1 are all processed with countersunk head through hole, and one end connects by bolt and main shaft 2, cylinder 3, and the other end and robot connect; Main shaft 2 is hollow structure, and portion arranges central shaft 10 and cylinder 3 within it, and the spindle nose end of central shaft 10 is processed with screwed hole, is connected with the piston rod 31 of cylinder 3; Central shaft 10 spindle nose ends connect by locking nut 5 and the first movable rod seat 6, shaft tail end connects by hold-down nut 14 and the second movable rod seat 11, described main shaft 2 two ends have the axial groove of 6 road circumference uniform distributions, and groove width, the angle at two ends are consistent; At main shaft 2 middle parts, (being the end of groove) is connected with the first stationary links seat 9, by the bolted on connection that is circumferentially arranged together; Main shaft 2 axle tails and the second stationary links seat 11 are bound up, and one end of the first long connecting rod 7 connects grabs clamping plate 4, and the other end connects the first movable rod seat 6; One end of the first short connecting rod 8 connects the middle part of the first long connecting rod 7, and the other end connects the first stationary links seat 9; One end of the second long connecting rod 12 connects grabs clamping plate 4, and the other end connects the second movable rod seat 11; One end of the second short connecting rod 13 connects the middle part of the second long connecting rod 12, and the other end connects the second stationary links seat 15.
The present embodiment, 6 connecting rod boss of 6,11, two stationary links seats 9,15 of the groove at main shaft 2 two ends and two movable rod seats are corresponding, and the reciprocating motion of movable rod seat 6,11 is played to guide effect; Stationary links seat 15 central authorities of main shaft 2 ends have tapped through hole, by controlling the length through the adjusting bolt 16 in this hole, can finely tune the diameter that opens of flexible jaw.
The present embodiment, described in grab being connected of clamping plate and long connecting rod, long connecting rod and short connecting rod be connected and connecting rod was and is articulated and connected with being connected of connecting rod base, by bearing pin 17 and circlip 18, realize.
The present embodiment, at described end of grabbing clamping plate 4, is provided with and radially extends male part 19, and its outside be circular arc type, guarantees that tire grabs to clip to consolidate.
The utility model, its operation principle is as follows:
(A), jaw opens, and grabs clip wheel tire: during beginning, jaw (grabbing clamping plate 4) is in the contraction state shown in Fig. 5, and central shaft 10 is moved to the left under the drive of cylinder piston rod 31, the first movable rod seat 6 and the second movable rod seat 11 be motion thereupon also; The first movable rod seat 6 and the second movable rod seat 11 drive respectively the first long connecting rod 7 and the second long connecting rod 12 to be moved to the left, because being bound up on main shaft 2, the first stationary links seat 9 and the second stationary links seat 15 maintain static, according to lever principle, the connecting rod pair that the first long connecting rod 7 and the second long connecting rod 12 and the first short connecting rod 8 and the second short connecting rod 13 form is radially propped up, and flexibility is grabbed clamping plate 4 also along with radial development.When the length of piston rod, extend, while reaching the state of Fig. 1, jaw has opened, and tire is grabbed clamping plate and firmly clamped, and can start carrying;
(B), jaw shrinks, and unloads tire: during beginning, the open configuration of jaw (grabbing clamping plate 4) in Fig. 1, central shaft 10 moves right under the drive of cylinder 3 piston rods 31, the first movable rod seat 6 and the second movable rod seat 11 be motion thereupon also; The first movable rod seat 6 and the second movable rod seat 11 drive respectively the first long connecting rod 7 and the second long connecting rod 12 to move right, equally according to lever principle, the secondary radial contraction of connecting rod that the first long connecting rod 7 and the second long connecting rod 12 and the first short connecting rod 8 and the second short connecting rod 13 form, grab clamping plate 4 also along with contraction, when the Length Contraction of piston rod 31 reaches the state shown in Fig. 5, Fig. 6, jaw has shunk, and tire comes off from grabbing clamping plate, completes carrying.
The present embodiment, grab clamping plate 4 effectively grab folder Design of length be 1085mm, the diameter that opens of grabbing clamping plate is Φ 420mm, be scaled inch: 420 ÷ 25.4=16.54 > 16 ", take 37 * 12.5R16.5 tire as example, the width of this tire is 12.5 * 25.4=317.5mm, grabbing the tire quantity that clamping plate can pick up is 1085 ÷ 317.5=3.42, therefore this flexibility jaw can once be carried 3 16 " radial, grabbing clamping plate contracted diameter minimum is Φ 268mm, be scaled inch: 268 ÷ 25.4=10.55 < 12 ", take 155R12C tire as example, the width of this tire is 155mm, grabbing the tire quantity that clamping plate can pick up is 1085 ÷ 155=7, integrated tire weight, this flexibility jaw can once be carried 5 12 " radial.
The present embodiment, the radial specification that can carry is 12 " 16 ", the maximum carrying amount of single is 3 16 " or 5 12 " radials, has greatly improved operating efficiency.
Claims (4)
1. for a robot flexibility jaw for tire carrying, comprise end cap (1), main shaft (2), cylinder (3), grab clamping plate (4) and central shaft (10); Two end faces of described end cap (1) are all processed with countersunk head through hole, and one end connects by bolt and main shaft (2), cylinder (3), and the other end and robot connect; Main shaft (2) is hollow structure, and portion arranges central shaft (10) and cylinder (3) within it, and the spindle nose end of central shaft (10) is processed with screwed hole, is connected with the piston rod (31) of cylinder (3); Central shaft (10) spindle nose end connects by locking nut (5) and the first movable rod seat (6), shaft tail end connects by hold-down nut (14) and the second movable rod seat (11), described main shaft (2) two ends have the axial groove of 3-6 road circumference uniform distribution, and groove width, the angle at two ends are consistent; At main shaft (2) middle part (end of groove), be connected with the first stationary links seat (9), by the bolted on connection that is circumferentially arranged together; Main shaft (2) axle tail and the second stationary links seat (11) are bound up, and one end of the first long connecting rod (7) connects grabs clamping plate (4), and the other end connects the first movable rod seat (6); One end of the first short connecting rod (8) connects the middle part of the first long connecting rod (7), and the other end connects the first stationary links seat (9); One end of the second long connecting rod (12) connects grabs clamping plate (4), and the other end connects the second movable rod seat (11); One end of the second short connecting rod (13) connects the middle part of the second long connecting rod (12), and the other end connects the second stationary links seat (15).
2. the robot flexibility jaw for tire carrying according to claim 1, it is characterized in that: the central authorities at the second stationary links seat (15) of main shaft (2) end have tapped through hole, by controlling the length through the adjusting bolt (16) in this hole, can finely tune the diameter that opens of flexible jaw.
3. the robot flexibility jaw for tire carrying according to claim 1, it is characterized in that: described in grab being connected of clamping plate and long connecting rod, long connecting rod and short connecting rod be connected and connecting rod was and is articulated and connected with being connected of connecting rod base, by bearing pin (17) and circlip (18), realize.
4. according to the robot flexibility jaw for tire carrying described in claim 1,2 or 3, it is characterized in that: at described end of grabbing clamping plate (4), be provided with and radially extend male part (19), its outside is circular arc type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420276764.9U CN203831408U (en) | 2014-05-27 | 2014-05-27 | Robot flexible clamping claw for tire carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420276764.9U CN203831408U (en) | 2014-05-27 | 2014-05-27 | Robot flexible clamping claw for tire carrying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203831408U true CN203831408U (en) | 2014-09-17 |
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ID=51509295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420276764.9U Expired - Fee Related CN203831408U (en) | 2014-05-27 | 2014-05-27 | Robot flexible clamping claw for tire carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203831408U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308487A (en) * | 2014-09-23 | 2015-01-28 | 中山市恒鑫聚诚工业设备有限公司 | Mechanical hand for automatically overturning motor stand |
| CN104552325A (en) * | 2015-01-14 | 2015-04-29 | 上海古岛自动化设备有限公司 | Manipulator multi-tire grabbing device |
| CN104627670A (en) * | 2015-02-03 | 2015-05-20 | 上海古岛自动化设备有限公司 | Transplanting machine for tire conveying |
| CN105858198A (en) * | 2016-06-07 | 2016-08-17 | 湖南三石油科技有限公司 | Workover treatment integrated equipment, tubular column holding device and grabbing hand thereof |
| CN106182050A (en) * | 2016-07-28 | 2016-12-07 | 昆山邦泰汽车零部件制造有限公司 | A kind of automobile tire conveying robot arm |
| CN107469290A (en) * | 2017-07-13 | 2017-12-15 | 华中科技大学 | Towards the deformable handle of hand rehabilitation |
| CN107511844A (en) * | 2017-10-23 | 2017-12-26 | 晨龙飞机（荆门）有限公司 | A kind of modularization aero tyre grabbing device |
| 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 |
| CN109290100A (en) * | 2018-10-09 | 2019-02-01 | 黄艳秋 | A kind of machine components high-efficiency washing device |
| CN110329752A (en) * | 2019-07-30 | 2019-10-15 | 安徽全柴动力股份有限公司 | Engine truss assembly line |
| CN110857185A (en) * | 2018-08-22 | 2020-03-03 | 沈阳新松机器人自动化股份有限公司 | Rubber tire stacking and carrying robot |
| CN111169896A (en) * | 2020-01-14 | 2020-05-19 | 合肥工业大学 | Clamping and moving mechanism for piled tires |
| CN112027270A (en) * | 2020-07-20 | 2020-12-04 | 福建立亚新材有限公司 | Wire supporting frame |
-
2014
- 2014-05-27 CN CN201420276764.9U patent/CN203831408U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308487A (en) * | 2014-09-23 | 2015-01-28 | 中山市恒鑫聚诚工业设备有限公司 | Mechanical hand for automatically overturning motor stand |
| CN104552325A (en) * | 2015-01-14 | 2015-04-29 | 上海古岛自动化设备有限公司 | Manipulator multi-tire grabbing device |
| CN104552325B (en) * | 2015-01-14 | 2016-06-08 | 上海古岛自动化设备有限公司 | Mechanical hand polyembryony tyre catching apparatus |
| CN104627670A (en) * | 2015-02-03 | 2015-05-20 | 上海古岛自动化设备有限公司 | Transplanting machine for tire conveying |
| CN105858198B (en) * | 2016-06-07 | 2018-08-07 | 湖南三一石油科技有限公司 | Workover treatment integration apparatus, tubing string supporting device and its handgrip |
| CN105858198A (en) * | 2016-06-07 | 2016-08-17 | 湖南三石油科技有限公司 | Workover treatment integrated equipment, tubular column holding device and grabbing hand thereof |
| CN106182050A (en) * | 2016-07-28 | 2016-12-07 | 昆山邦泰汽车零部件制造有限公司 | A kind of automobile tire conveying robot arm |
| 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 |
| CN108724168B (en) * | 2017-04-13 | 2023-10-13 | 无锡黎曼机器人科技有限公司 | Tire transfer robot end effector |
| CN107469290A (en) * | 2017-07-13 | 2017-12-15 | 华中科技大学 | Towards the deformable handle of hand rehabilitation |
| CN107469290B (en) * | 2017-07-13 | 2018-12-28 | 华中科技大学 | Deformable handle towards hand rehabilitation |
| CN107511844A (en) * | 2017-10-23 | 2017-12-26 | 晨龙飞机（荆门）有限公司 | A kind of modularization aero tyre grabbing device |
| CN110857185A (en) * | 2018-08-22 | 2020-03-03 | 沈阳新松机器人自动化股份有限公司 | Rubber tire stacking and carrying robot |
| CN109290100A (en) * | 2018-10-09 | 2019-02-01 | 黄艳秋 | A kind of machine components high-efficiency washing device |
| CN110329752A (en) * | 2019-07-30 | 2019-10-15 | 安徽全柴动力股份有限公司 | Engine truss assembly line |
| CN111169896A (en) * | 2020-01-14 | 2020-05-19 | 合肥工业大学 | Clamping and moving mechanism for piled tires |
| CN112027270A (en) * | 2020-07-20 | 2020-12-04 | 福建立亚新材有限公司 | Wire supporting frame |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 515500 Middle Road, Jiedong Economic Development Zone, Jieyang, Guangdong, China Patentee after: GREATOO INTELLIGENT EQUIPMENT INC. Address before: 515500 Middle Road, Jiedong Economic Development Zone, Jieyang, Guangdong, China Patentee before: GREATOO INC. |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160317 Address after: 510530, 17, Fenghuang three road, Guangzhou, Guangzhou, Guangdong, China, 5 rooms 428 Patentee after: Great wheel (Guangzhou) Intelligent Technology Research Institute Co Ltd Patentee after: GREATOO INTELLIGENT EQUIPMENT INC. Address before: 515500 Middle Road, Jiedong Economic Development Zone, Jieyang, Guangdong, China Patentee before: GREATOO INTELLIGENT EQUIPMENT INC. |
|
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 510530, 17, Fenghuang three road, Guangzhou, Guangzhou, Guangdong, China, 5 rooms 428 Patentee after: Great wheel (Guangzhou) robot and Intelligent Manufacturing Co., Ltd. Patentee after: GREATOO INTELLIGENT EQUIPMENT INC. Address before: 510530, 17, Fenghuang three road, Guangzhou, Guangzhou, Guangdong, China, 5 rooms 428 Patentee before: Great wheel (Guangzhou) Intelligent Technology Research Institute Co Ltd Patentee before: GREATOO INTELLIGENT EQUIPMENT INC. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140917 Termination date: 20190527 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |