CN206544269U - Link manipulator - Google Patents
Link manipulator Download PDFInfo
- Publication number
- CN206544269U CN206544269U CN201720171812.1U CN201720171812U CN206544269U CN 206544269 U CN206544269 U CN 206544269U CN 201720171812 U CN201720171812 U CN 201720171812U CN 206544269 U CN206544269 U CN 206544269U
- Authority
- CN
- China
- Prior art keywords
- fixed disk
- support member
- disk body
- guide rail
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model proposes a kind of link manipulator, including annular fixed disk body, and it is vertically arranged at the claw in fixed disk body within circumference, the first support member is fixedly connected with the top of claw, the annular rotary table coaxial with fixed disk body is provided with fixed disk body, linkage unit is provided with fixed disk body, linkage unit is around the multiple of fixed disk body axis circumference array, linkage unit includes the first connecting rod and second connecting rod that two ends are hinged with the first support member and fixed disk body respectively, third connecting rod is provided between rotating disk and linkage unit, the two ends of third connecting rod are hinged with rotating disk with linkage unit respectively, being provided with fixed disk body can the first driver element for rotating of driving rotating disk, the fixing end of first driver element is hinged with fixed disk body, the clutch end of fixed disk body is hinged with rotating disk.The utility model cost is low, simple in construction and operating efficiency is high.
Description
Technical field
The utility model belongs to tire shaping vulcanizing technical field of auxiliary equipment, more particularly to one kind is used for tyre vulcanization
Machine loads the dress device of tyre of tire.
Background technology
Tyre vulcanizer is in tire curing procedure, for tire to be converted into elastic tyre or hard by plasticity tire
The equipment of tire, it includes base, main drive gear, central authority, vulcanizing chamber, dress device of tyre (manipulator), disassembling mechanism of tyre, de-
Mold mechanism and control system.Wherein, dress device of tyre is to realize one of important guarantee of vulcanized tyre automation process, the device energy
Enough complete green tire to capture, rise, be transferred to and decline, and green tire is accurately entangled into capsule to be allowed to shape, then close, rising turns
A series of sequences such as go out.
Chinese utility model patent CN203063008U discloses a kind of tire forming vulcanizer gripper, including pivoted arm,
Supporting plate, pawl disk, rotating disk, drive mechanism, grasping mechanism and lift mechanism, the grasping mechanism include slide rail, sliding block, calvus and company
Bar, the slide rail is fixed on the lower surface of the pawl disk and is uniformly distributed along the circumference of pawl disk, and the sliding block is slideably set
Put radially sliding on the slide rail and along pawl disk, the calvus is fixedly connected with a slide block, the two ends of the connecting rod respectively with
The rotating disk is connected with sliding block, and green tire is loaded by using support formula gripper is grabbed；Chinese utility model patent
CN204471685U discloses a kind of tyre vulcanizer handling tire component, including rotary disk basement and claw, the outer ring surface of rotary disk basement
Hoop sets pawl disk, and revolution is constituted between pawl disk and rotary disk basement and is coordinated, and the clamping face that claw closes tire semifinished product mouthful for directly supporting encloses shape
Axis and rotary disk basement axis coaxle into cylinder arrange, pawl disk lower wall face diameter is to extensible track portion, and pawl Pan Panmianchu is through setting
Arc guide groove is put, claw is double guide rod cylinders, and the tailpiece of the piston rod of claw sets above-mentioned clamping face, and the piston action of clamping face
Direction also opens up current slotted eye along pawl disk radial arrangement at the card of pawl disk.
However, above-mentioned dress device of tyre adds setting for equipment due to being provided with the structures such as slide rail, arc guide groove and slotted eye
Cost and difficulty of processing are counted, meanwhile, the frictional force suffered by running is increased, and then have impact on the making of dress device of tyre and work
The efficiency of work.
The content of the invention
The utility model is for existing dress device of tyre cost is high, difficulty of processing is big and ineffective technology is asked
Topic, proposes a kind of link manipulator that cost is low, simple in construction and operating efficiency is high.
In order to achieve the above object, the technical solution adopted in the utility model is：
A kind of link manipulator, including annular fixed disk body, and be vertically arranged in fixed disk body within circumference
It is fixedly connected with the top of claw, claw on the first support member, fixed disk body and is provided with the annular rotary table coaxial with fixed disk body,
Linkage unit is provided with fixed disk body, linkage unit is that linkage unit includes around the multiple of fixed disk body axis circumference array
First connecting rod and second connecting rod that two ends are hinged with the first support member and fixed disk body respectively, are set between rotating disk and linkage unit
There is third connecting rod, the two ends of third connecting rod are hinged with rotating disk with linkage unit respectively, being provided with fixed disk body can driving rotating disk
The first driver element rotated, the fixing end of the first driver element is hinged with fixed disk body, the clutch end of fixed disk body with
Rotating disk is hinged.
Preferably, fixed disk body is including the first fixed disk positioned at bottom, the connector positioned at middle part, and positioned at upper
Second fixed disk in portion, the two ends of connector are fixedly connected with the first fixed disk and the second fixed disk respectively, and linkage unit is set
In the middle part of fixed disk body, wherein, the two ends of first connecting rod and second connecting rod are cut with scissors with the first fixed disk and the first support member respectively
Connect, rotating disk is installed on the top of the first fixed disk.
Preferably, fixed disk body, which is provided with, can limit the tune stroke unit of rotating disk rotation limit position, stroke unit is adjusted
The first guide rail being hinged including one end with fixed disk body, and can be along reciprocating second support member of the first guide rail, second
The end of support member vertically is hinged with fixed disk body, and both sides of second support member along the relative first guide rail direction of motion are distinguished
First block piece and second block piece of second support member with respect to the first guide rail limit of sports record position can be limited by being provided with.
Preferably, the first guide rail is screw rod, the second support member is provided with through hole along the relative first guide rail direction of motion, the
Two support members are threadedly coupled by through hole with the first guide rail.
Preferably, the first block piece and the second block piece are the nut being threadedly coupled with the first guide rail.
Preferably, the two ends of the second support member are connected on the direction that the second support member is moved with respect to the first guide rail
The second support member can be oriented to along the reciprocating guide of the first guide rail by having.
Preferably, the external circumference of fixed disk be fixedly connected with can around vertical direction rotate tumbler, tumbler it is another
One end is hinged with the 3rd support member, and tumbler is connected with the second driver element of powered rotatable part rotation.
Preferably, the 3rd support member is connected with the second guide rail vertically set, the 3rd support member is connected with can
Drive the 3rd reciprocating 3rd driver element of the second guide rail of support member.
Compared with prior art, advantage of the present utility model and good effect are：
1st, the utility model link manipulator can realize card by setting rotating disk, linkage unit and third connecting rod
Reciprocating motion of the pawl in the middle part of fixed disk body and in fixed disk body between circumference, wherein, rotating disk and linkage unit constitute four companies
Bar motion, and third connecting rod passes through driving rotating disk as the drive disk assembly that the torque of rotating disk is passed to linkage unit
Rotation, crawl to green tire can be achieved with the motion for driving quadric chain, and groove or track etc. need not be set to answer
Miscellaneous structure, therefore, the utility model link manipulator motion friction are small, operate and simple in construction, and the effect that works
Rate is high.
2nd, the utility model link manipulator increases entirety by setting the first fixed disk and the second fixed disk with this
The rigidity of structure, and then it is unlikely to deform link manipulator and stability is good, simultaneously, it is ensured that during being captured to green tire
Positioning precision.
3rd, the utility model link manipulator adjusts stroke unit by setting, so that the range of movement of claw is limited,
And then avoid and interfered in motion process between each motion structure, simultaneously as adjusting the motion of stroke unit only by the
Two support members and the first guide rail realize that therefore, the utility model adjusts the simple in construction of stroke unit, and subtracts in motion process
Lack and brought frictional resistance is rotated to rotating disk, and then ensure that the higher operating efficiency of link manipulator.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram of the utility model link manipulator；
Fig. 2 is the dimensional structure diagram of the utility model link manipulator；
Fig. 3 is the structural representation that the utility model link manipulator adjusts stroke unit；
Fig. 4 is the structural representation that the utility model link manipulator lifts tumbler, the 3rd support member and the second guide rail
Figure.
Above in each figure：1st, fixed disk body；2nd, rotating disk；3rd, linkage unit；4th, first connecting rod；5th, second connecting rod；6th, first
Support member；7th, claw；8th, third connecting rod；9th, the first fixed disk；10th, the first driver element；11st, stroke unit is adjusted；12nd, first lead
Rail；13rd, the first block piece；14th, the second support member；15th, the second block piece；16th, guide；17th, the second fixed disk；18th, connector；
19th, tumbler；20th, the 3rd support member；21st, the second guide rail；22nd, the second driver element.
Embodiment
Below, the utility model is specifically described by exemplary embodiment.It should be appreciated, however, that not having
In the case of being further discussed below, element, structure and features in an embodiment can also be advantageously incorporated into other implementations
In mode.
, it is necessary to explanation, term " interior ", " outer ", " on ", " under ", "front", "rear" etc. in description of the present utility model
The orientation or position relationship of instruction are, based on the position relationship shown in accompanying drawing 4, to be for only for ease of description the utility model and letter
Change description, rather than indicate or imply signified device or element must have specific orientation, with specific azimuth configuration and
Operation, therefore it is not intended that to limitation of the present utility model.In addition, term " first ", " second ", " the 3rd " are only used for description
Purpose, and it is not intended that indicating or implying relative importance.
As depicted in figs. 1 and 2, a kind of link manipulator, including annular fixed disk body 1, and it is vertically arranged at fixation
Claw 7 within the inner periphery of disk body 1, the top of claw 7, which is fixedly connected with the first support member 6, fixed disk body 1, to be provided with and solid
Price fixing body 1 it is coaxial (for example, fixed disk body 1 it is peripherally disposed have rotating disk 2 is installed in the locating part on fixed disk body 1 so that
Rotating disk 2 and fixed disk body 1 are coaxial) annular rotary table 2, be provided with linkage unit 3 on fixed disk body 1, linkage unit 3 is around fixation
The circumference array of disk body 1 it is multiple, linkage unit 3 include that two ends are hinged with the first support member 6 and fixed disk body 1 respectively the
One connecting rod 4 and second connecting rod 5, are provided with third connecting rod 8 between rotating disk 2 and linkage unit 3, the two ends of third connecting rod 8 respectively with
Rotating disk 2 is hinged with linkage unit 3, be provided with fixed disk body 1 can the first driver element 10 that rotates of driving rotating disk 2, first drives
The fixing end of moving cell 10 is hinged with fixed disk body 1, and the clutch end of fixed disk body 1 is hinged with rotating disk 2.
The utility model link manipulator can realize card by setting rotating disk 2, linkage unit 3 and third connecting rod 8
Reciprocating motion of the pawl 7 in the middle part of fixed disk body and in fixed disk body between circumference, wherein, rotating disk 2 and linkage unit 3 constitute four
Bar linkage motion mechanism, and third connecting rod 8 passes through driving as the drive disk assembly that the torque of rotating disk 2 is passed to linkage unit 3
The rotation of rotating disk 2, can be achieved the crawl to green tire, and need not set groove or track with the motion for driving quadric chain
Deng labyrinth, therefore, the utility model link manipulator motion friction is small, operates and simple in construction, and work
Make efficiency high.
For the structure of above-mentioned fixed disk body 1, Ke Yiwei：As depicted in figs. 1 and 2, fixed disk body 1 is included positioned at bottom
First fixed disk 9, the connector 18 positioned at middle part, and superposed second fixed disk 17, the two ends difference of connector 18
It is fixedly connected with the first fixed disk 9 and the second fixed disk 17, linkage unit 3 is arranged at the middle part of fixed disk body 1, wherein, first
The two ends of connecting rod 4 and second connecting rod 5 are hinged with the first fixed disk 9 and the first support member 6 respectively, and locating part and rotating disk 2 are installed on
The top of first fixed disk 9.
The utility model link manipulator is increased whole by setting the first fixed disk 9 and the second fixed disk 17 with this
The rigidity of body structure, and then it is unlikely to deform link manipulator and stability is good, simultaneously, it is ensured that process is being captured to green tire
In positioning precision.
In addition, the connected mode of linkage unit 3 can also be in above-mentioned embodiment, the two ends of first connecting rod 4 respectively with
Second fixed disk 17 and the first support member 6 are hinged, and the two ends of second connecting rod 5 are cut with scissors with the first fixed disk 9 and the first support member 6 respectively
Connect.
It is preferred that, the first driver element 10 can be one kind of for hydraulic cylinder, cylinder or linear electric motors, wherein using liquid
Cylinder pressure can make link manipulator operate steadily no impact, and stability is strong and repeatable accuracy is high.
Further, as shown in Figure 1 to Figure 3, fixed disk body 1, which is provided with, can limit the tune stroke of the rotation limit position of rotating disk 2
Unit 11, adjusts stroke unit 11 to include the first guide rail 12 that one end is hinged with fixed disk body 1, and can be reciprocal along the first guide rail 12
Second support member 14 of motion, the end of the second support member 14 vertically is hinged with fixed disk body 1, the edge of the second support member 14
Both sides with respect to the direction of motion of the first guide rail 12 are respectively arranged with and can limit relative first guide rail 12 of the second support member 14 and move pole
The first block piece 13 and the second block piece 15 of extreme position.
The utility model link manipulator adjusts stroke unit 11 by setting, so that the range of movement of claw 7 is limited,
And then avoid and interfered in motion process between each motion structure, simultaneously as adjust the motion of stroke unit 11 only by
Second support member 14 and the first guide rail 12 realize that therefore, the utility model adjusts the simple in construction of stroke unit 11, and in motion
During reduce brought frictional resistance rotated to rotating disk 2, and then ensure that the higher operating efficiency of link manipulator.
It is preferred that, the first guide rail 12 is screw rod, and the second support member 14 is provided with logical along the relative direction of motion of first guide rail 12
Hole, the second support member 14 is threadedly coupled by through hole with the first guide rail 12.
Further, the first block piece 13 and the second block piece 15 are the nut being threadedly coupled with the first guide rail 12.The utility model
By being set to the first block piece 13 and the second block piece 15 to be threadedly coupled with the first guide rail 12, it is achieved thereby that being moved to claw 7
The regulation of the limit, and then improve the versatility of link manipulator.
In addition, the two ends of the second support member 14 connect on the direction that relative first guide rail 12 of the second support member 14 is moved
The second support member 14 can be oriented to along the reciprocating guide 16 of the first guide rail 12 by being connected to.The utility model sets guide 16
Effect is, improves the stability of the second support member 14 motion.
Further, as shown in figure 4, the fixed excircle of disk body 1 is fixedly connected with the tumbler 19 that can be rotated around vertical direction,
The other end of tumbler 19 is hinged with the 3rd support member 20, and tumbler 19 is connected with the second driving of the rotation of powered rotatable part 19
Unit 22.
It is preferred that, the second driver element 22 can be one kind of for hydraulic cylinder, cylinder or linear electric motors,
With further reference to Fig. 4, the 3rd support member 20 is connected with the second guide rail 21 vertically set, the 3rd support member
20 are connected with and can drive reciprocating 3rd driver element of 20 second guide rail of the 3rd support member 21.
It is preferred that, the 3rd driver element can be one kind of for servomotor, stepper motor or hydraulic motor, now,
Second guide rail 21 can be leading screw, be connected between the 3rd support member 20 and the second guide rail 21 by lead screw pair.
In addition, the utility model link manipulator is provided with the displacement transducer of the detectable displacement of claw 7.
It is preferred that, displacement transducer is noncontacting proximity sensor.The utility model uses non-contact displacement transducer, longevity
Life is high and is easy to safeguard.
In order to be better understood from above-mentioned technical proposal of the present utility model, as shown in Figures 1 to 4, the utility model connecting rod
The course of work of formula manipulator is as follows：
The green tire for being pointed to deposit the position of foetus carries out crawl process：Start the second driver element 22 and the 3rd driver element, make card
Pawl 7 is positioned and stretched in the middle part of green tire, now, starts the first driver element 10, to drive claw 7 to shrink (i.e. to fixed disk body 1
Inner circle circumferential direction is moved), untill claw 7 touches green tire.
Transport the process of green tire：Positioning linkage rod formula manipulator starts the 3rd driver element from depositing after position of foetus crawl green tire, and
Green tire is promoted to by certain altitude by claw 7, now, starts the second driver element 22, green tire is rotated to tyre setting
The top at vulcanizing machine model center.
Discharge the process of green tire：Start the 3rd driver element, so that green tire drops to the female die of tire forming vulcanizer
On, now, start the first driver element 10, so that claw 7 stretches out (towards the fixed middle part direction of disk body 1 motion), until can be with
Untill departing from green tire.
Claims (8)
1. a kind of link manipulator, including annular fixed disk body (1), and be vertically arranged at fixed disk body (1) inner periphery with
It is fixedly connected with the first support member (6), fixed disk body (1) and is provided with and fixed disk at the top of interior claw (7), claw (7)
The coaxial annular rotary table (2) of body (1), it is characterised in that：Linkage unit (3), linkage unit (3) are provided with fixed disk body (1)
For around the multiple of fixed disk body (1) circumference array, linkage unit (3) include two ends respectively with the first support member (6) and solid
First connecting rod (4) and second connecting rod (5) that price fixing body (1) is hinged, the 3rd company is provided between rotating disk (2) and linkage unit (3)
Bar (8), the two ends of third connecting rod (8) are hinged with rotating disk (2) with linkage unit (3) respectively, are provided with and can be driven on fixed disk body (1)
The first driver element (10) that dynamic rotating disk (2) is rotated, the fixing end of the first driver element (10) is hinged with fixed disk body (1), Gu
The clutch end of price fixing body (1) is hinged with rotating disk (2).
2. link manipulator according to claim 1, it is characterised in that：Fixed disk body (1) includes the positioned at bottom
One fixed disk (9), the connector (18) positioned at middle part, and superposed second fixed disk (17), the two of connector (18)
End is fixedly connected with the first fixed disk (9) and the second fixed disk (17) respectively, and linkage unit (3) is arranged at fixed disk body (1)
Middle part, wherein, the two ends of first connecting rod (4) and second connecting rod (5) are cut with scissors with the first fixed disk (9) and the first support member (6) respectively
Connect, rotating disk (2) is installed on the top of the first fixed disk (9).
3. link manipulator according to claim 1 or 2, it is characterised in that：Fixed disk body (1), which is provided with to limit, to be turned
The tune stroke unit (11) of disk (2) rotation limit position, adjust that stroke unit (11) includes that one end and fixed disk body (1) be hinged the
One guide rail (12), and can be along reciprocating second support member (14) of the first guide rail (12), the second support member (14) is along vertical
The end in direction is hinged with fixed disk body (1), both sides point of the second support member (14) along relative first guide rail (12) direction of motion
First block piece (13) and second of the second support member (14) with respect to the first guide rail (12) limit of sports record position can be limited by not being provided with
Block piece (15).
4. link manipulator according to claim 3, it is characterised in that：First guide rail (12) is screw rod, the second support
Part (14) is provided with through hole along relative first guide rail (12) direction of motion, and the second support member (14) passes through through hole and the first guide rail
(12) it is threadedly coupled.
5. link manipulator according to claim 4, it is characterised in that：First block piece (13) and the second block piece (15) are
The nut being threadedly coupled with the first guide rail (12).
6. link manipulator according to claim 3, it is characterised in that：Perpendicular to the second support member (14) relative first
The two ends of the second support member (14), which are connected with, on the direction of guide rail (12) motion can be oriented to the second support member (14) along the first guide rail
(12) reciprocating guide (16).
7. the link manipulator according to claim 1,2,4 or 5, it is characterised in that：Fixed disk body (1) excircle is fixed
The tumbler (19) that can be rotated around vertical direction is connected with, the other end of tumbler (19) is hinged with the 3rd support member (20), turns
Moving part (19) is connected with the second driver element (22) of powered rotatable part (19) rotation.
8. link manipulator according to claim 7, it is characterised in that：3rd support member (20) is connected with along vertical side
To the second guide rail (21) of setting, the 3rd support member (20), which is connected with, can drive the guide rail (21) of the 3rd support member (20) second reciprocal
3rd driver element of motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720171812.1U CN206544269U (en) | 2017-02-24 | 2017-02-24 | Link manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720171812.1U CN206544269U (en) | 2017-02-24 | 2017-02-24 | Link manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206544269U true CN206544269U (en) | 2017-10-10 |
Family
ID=59994178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720171812.1U Withdrawn - After Issue CN206544269U (en) | 2017-02-24 | 2017-02-24 | Link manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206544269U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671319A (en) * | 2017-02-24 | 2017-05-17 | 青岛双星橡塑机械有限公司 | Connecting rod type mechanical arm |
| CN112936182A (en) * | 2021-03-25 | 2021-06-11 | 中国航发南方工业有限公司 | Air conduit tightening tool and assembling method |
-
2017
- 2017-02-24 CN CN201720171812.1U patent/CN206544269U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671319A (en) * | 2017-02-24 | 2017-05-17 | 青岛双星橡塑机械有限公司 | Connecting rod type mechanical arm |
| CN106671319B (en) * | 2017-02-24 | 2023-04-11 | 青岛海琅智能装备有限公司 | Connecting rod type manipulator |
| CN112936182A (en) * | 2021-03-25 | 2021-06-11 | 中国航发南方工业有限公司 | Air conduit tightening tool and assembling method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 266400 88 Gang Xing Road, POI Town, Huangdao District, Qingdao, Shandong Patentee after: Qingdao Shuangxing Equipment Manufacturing Co.,Ltd. Address before: 266400 No.7, Fucui street, Huangdao District, Qingdao City, Shandong Province Patentee before: QINGDAO DOUBLESTAR RUBBER & PLASTIC MACHINERY Co.,Ltd. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171010 Effective date of abandoning: 20230411 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20171010 Effective date of abandoning: 20230411 |