CN208117839U - A mechanical arm for moving car tires - Google Patents

Abstract

The utility model discloses a manipulator of transport automobile tire, including the device main part, the left end of device main part is provided with the bearing leg, bearing leg and device main part fixed connection, the top of device main part is provided with hangs the longmen, hang longmen and device main part fixed connection, the right-hand member of device main part is provided with the support, support and device main part fixed connection, the middle part that hangs the longmen is provided with the manipulator, the manipulator with hang longmen swing joint, what this kind of controlling means of manipulator of transport automobile tire adopted is P L C control system, a control for inside unit, can let the device realize full-automatic intellectuality through computer programming, reduce the labour simultaneously, only need just can realize the control to equipment alone, the bottom of the support of this kind of manipulator of transport automobile tire is provided with the universal wheel, its structure allows 360 degrees rotations of level, the whole balance of transport, the motion orbit is in the same.

Description

A mechanical arm for moving car tires

technical field

The utility model relates to the technical field of mechanical equipment, in particular to a manipulator for transporting automobile tires.

Background technique

A manipulator is a device that can imitate a human hand and an arm. It is an automatic operating device used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming. The respective advantages of manipulators and machines, the manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. It is used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.

Nowadays, the manipulator for handling automobile tires has a bumpy trajectory when moving in balance in the space, making it impossible for the operator to quickly carry out operations such as handling, positioning, and assembling the tires. When there is a wrong operation, the manipulator will suddenly change the load or space The load pressure will rise or fall rapidly, causing injury to people, equipment and products. During the handling of the tire, it often slips from the manipulator due to the problem of the clamp.

Therefore, how to design a manipulator for handling automobile tires has become a problem we need to solve at present.

Utility model content

The utility model relates to a manipulator for transporting automobile tires, which solves the problems in the above-mentioned background technology, such as uneven transport track, slow transport speed, unreliable tire fixation, and simple safety measures.

In order to achieve the above object, the utility model provides the following technical solutions: a manipulator for handling automobile tires, including a device main body, the left end of the device main body is provided with load-bearing legs, the load-bearing legs are fixedly connected with the device main body, and the device main body The top of the suspension gantry is provided with a suspension gantry, and the suspension gantry is fixedly connected with the main body of the device. The right end of the main body of the device is provided with a bracket, and the bracket is fixedly connected with the main body of the device. The middle part of the suspension gantry is provided with a manipulator, and the manipulator It is movably connected with the hanging gantry, the hollow part of the manipulator is provided with a lifting shaft, and the lifting shaft is movably connected with the manipulator, and the bottom end of the lifting shaft is provided with a fixed roller, and the fixed roller is electrically connected with the lifting shaft. The hollow part of the load-bearing leg is provided with a rotating shaft, the rotating shaft is fixedly connected with the load-bearing leg, the bottom end of the load-bearing leg is provided with a fixed base, the fixed base is fixedly connected with the load-bearing leg, and the middle part of the manipulator is set There is a control device, the control device is electrically connected with the manipulator, the top of the manipulator is provided with a servo motor, and the servo motor is electrically connected with the manipulator, and the middle part of the fixed wheel is provided with a handling grip, and the handling grip It is fixedly connected with the fixed wheel, and the middle part of the load-bearing leg is provided with a rotating motor, and the rotating motor is electrically connected with the load-bearing leg.

Further, the bottom end of the bracket is provided with universal wheels, and the universal wheels are fixedly connected with the bracket.

Further, an alarm device is provided at the bottom of the manipulator, and the alarm device is electrically connected with the manipulator.

Further, an infrared CCD camera is arranged in the middle of the fixed roller, and the infrared CCD camera is electrically connected with the fixed roller.

Further, a solenoid valve is provided at the bottom end of the rotating motor, and the solenoid valve is electrically connected with the rotating motor.

Further, the five-jaw chuck is used for the handling claws.

Further, the control device adopts a PLC control system.

Compared with the prior art, the beneficial effect of the utility model is that the control device of the manipulator for handling automobile tires adopts a PLC control system, which is used for the control of the internal unit, and the device can be fully automatic and intelligent through computer programming. , while reducing the labor force, only one person can realize the control of the equipment. The bottom end of the bracket of the manipulator for handling automobile tires is equipped with universal wheels. Its structure allows horizontal 360-degree rotation, and the whole process of handling is balanced and smooth. Slip, so that the operator can easily carry out tire handling, positioning, assembly and other operations. The bottom end of the rotating motor of the manipulator for handling automobile tires is equipped with a solenoid valve, which can cooperate with different circuits to achieve the expected control. Through The solenoid valve can control the speed and working state of the rotating motor, so that the tire handling process can be completed without any manpower, reducing the labor force in the handling process. The middle part of the fixed wheel of the manipulator for handling automobile tires is equipped with an infrared CCD camera. , using visual guidance and infrared ranging to guide the work of the robot arm, so that the robot arm can run quickly and stably, and improve the efficiency of handling. When turning the small bevel gear with a wrench, the flat thread on the back drives the five claws to approach or withdraw from the center at the same time, which can clamp tires of different diameters and prevent the tires from slipping off the manipulator. There is an alarm device and a safety misoperation protection device. Before the operator confirms the handling status, the load or no-load pressure will not be suddenly changed due to a wrong action, so the manipulator will not cause personal injury due to rapid rise or fall. , equipment and products causing injury.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is a schematic diagram of the partial structure of the manipulator of the present utility model;

Fig. 3 is a structural schematic diagram of the load-bearing leg part of the utility model.

Among the figure 1, device main body, 2, load-bearing legs, 201, rotating motor, 202, solenoid valve, 3, suspension gantry, 4, support, 5, lifting shaft, 6, fixed wheel, 7, manipulator, 701, servo motor, 702, control device, 703, alarm device, 704, carrying claw, 705, infrared CCD camera, 8, universal wheel, 9, rotating shaft, 10, fixed base.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. , based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

Please refer to Figures 1-3, the utility model provides a technical solution: a manipulator for handling automobile tires, including a device main body 1, the left end of the device main body 1 is provided with a load-bearing leg 2, and the load-bearing leg 2 is fixedly connected with the device main body 1, The top of the device main body 1 is provided with a suspension gantry 3, the suspension gantry 3 is fixedly connected with the device main body 1, the right end of the device main body 1 is provided with a bracket 4, the bracket 4 is fixedly connected with the device main body 1, and the middle part of the suspension gantry 3 is provided with a manipulator 7 , the manipulator 7 is movably connected with the hanging gantry 3, the hollow part of the manipulator 7 is provided with a lift shaft 5, the lift shaft 5 is movably connected with the manipulator 7, the bottom end of the lift shaft 5 is provided with a fixed roller 6, and the fixed roller 6 is electrically connected to the lift shaft 5. The hollow part of the load-bearing leg 2 is provided with a rotating shaft 9, the rotating shaft 9 is fixedly connected with the load-bearing leg 2, the bottom end of the load-bearing leg 2 is provided with a fixed base 10, and the fixed base 10 is fixedly connected with the load-bearing leg 2. The middle part is provided with a control device 702, the control device 702 is electrically connected with the manipulator 7, the top of the manipulator 7 is provided with a servo motor 701, the servo motor 701 is electrically connected with the manipulator 7, and the middle part of the fixed wheel 6 is provided with a transport claw 704, The transport claw 704 is fixedly connected with the fixed wheel 6 , and the middle part of the load-bearing leg 2 is provided with a rotating motor 201 , and the rotating motor 201 is electrically connected with the load-bearing leg 2 .

Further, the bottom end of the bracket 4 is provided with a universal wheel 8, and the universal wheel 8 is fixedly connected with the bracket 4. The universal wheel is a so-called movable caster, and its structure allows horizontal 360-degree rotation, and it skillfully applies force balance The principle enables the operator to push and pull the heavy object accordingly, and then it can move in a balanced manner in the space.

Further, the bottom end of the manipulator 7 is provided with an alarm device 703, the alarm device 703 is electrically connected to the manipulator 7, and is equipped with a safety misoperation protection device. Sudden changes in load or no-load pressure, so the manipulator will not cause damage to people, equipment and products due to rapid rise or fall.

Further, an infrared CCD camera 705 is arranged at the middle part of the fixed roller 6, and the infrared CCD camera 705 is electrically connected with the fixed roller 6, and the method of visual guidance and infrared ranging is used to guide the mechanical arm to work, and it is detected in the image According to the type of object, the position and attitude of the object in the camera coordinate system are calculated according to the intelligent computer built into the robot arm, so that the robot arm can run quickly and stably, and the handling efficiency can be improved.

Further, the bottom end of the rotating motor 201 is provided with a solenoid valve 202, the solenoid valve 202 is electrically connected with the rotating motor 201, and the direction, flow, speed and other parameters of the medium are adjusted in the control system, and the solenoid valve can cooperate with different The expected control can be realized by the circuit, and the speed and working state of the rotating motor can be controlled through the solenoid valve, so that the handling process of the tire can be completed without any manpower, and the labor force in the handling process can be reduced.

Further, what the handling claw 704 adopts is a five-jaw chuck. The five-jaw chuck is composed of a chuck body, movable jaws and a jaw driving mechanism. Below the five jaw guide parts on the five-jaw chuck, there are threads and The flat threads on the back of the disc-shaped bevel gear mesh with each other. When the small bevel gear is turned with a wrench through the square hole, the disc-shaped gear rotates, and the flat threads on the back drive the five claws to approach or withdraw from the center at the same time, which can clamp different diameters. Tires to prevent the tires from slipping off the manipulator.

Furthermore, the control device 702 adopts a PLC control system, which is used for the control of the internal unit. After computer programming, the device can be fully automatic and intelligent, and at the same time reduce the labor force. Only one person can realize the control of the equipment.

Working principle: First, the control device 702 of the manipulator for handling automobile tires uses a PLC control system to control the internal unit. After computer programming, the device can be fully automatic and intelligent, and at the same time reduce labor, only one person can realize it. For the control of the equipment, the bottom end of the bracket 4 is provided with a universal wheel 8, its structure allows horizontal 360-degree rotation, it skillfully applies the principle of force balance, so that the operator can push and pull the weight accordingly, and it can Balanced movement and positioning in the space, balanced and smooth movement in the whole process of transportation, so that the operator can easily realize the operations of tire transportation, positioning, assembly, etc., and the power-saving equipment for labor-saving operation, and then the bottom end of the rotating motor 201 is provided with a solenoid valve 202 , used to control the basic automation components of the fluid, which belongs to the actuator control system to adjust the direction, flow, speed and other parameters of the medium. The solenoid valve can cooperate with different circuits to achieve the expected control. The solenoid valve can control the rotation of the motor. The speed and working state make the handling process of the tires complete without any manpower, reducing the labor force in the handling process, and then the middle part of the fixed wheel 6 is provided with an infrared CCD camera 705, which adopts the method of visual guidance and infrared distance measurement To guide the robot arm to work, detect the type of object in the image, etc., calculate the position and posture of the object in the camera coordinate system according to the intelligent computer built in the robot arm, make the robot arm run fast and stable, and improve the efficiency of handling, then The handling claw 704 adopts a five-jaw chuck, which is composed of a chuck body, movable jaws and a jaw driving mechanism. Below the guide part of the five jaws on the five-jaw chuck, there are threads and a plane on the back of the bevel gear. The threads mesh with each other. When the small bevel gear is turned with a wrench through the square hole, the disc gear turns, and the flat thread on the back drives the five claws to approach or withdraw from the center at the same time, which can clamp tires of different diameters and prevent the tires from being removed from the manipulator. Finally, the bottom of the manipulator 7 is equipped with an alarm device 703, which is equipped with a safety misoperation protection device. Before the operator confirms the handling status, the load or no-load pressure will not be changed suddenly due to a wrong action, so the manipulator It will not cause injury to people, equipment and products due to rapid ascent or descent.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.

Claims (7)

1. A manipulator for handling automobile tires, comprising a device body (1), characterized in that: the left end of the device body (1) is provided with a load-bearing leg (2), and the load-bearing leg (2) is connected to the device body (1) ) is fixedly connected, the top of the device main body (1) is provided with a suspension gantry (3), the suspension gantry (3) is fixedly connected with the device main body (1), and the right end of the device main body (1) is provided with a bracket ( 4), the support (4) is fixedly connected with the device main body (1), the middle part of the hanging gantry (3) is provided with a manipulator (7), and the manipulator (7) is movably connected with the hanging gantry (3), The hollow part of the manipulator (7) is provided with a lifting shaft (5), and the lifting shaft (5) is movably connected with the manipulator (7), and the bottom end of the lifting shaft (5) is provided with a fixed wheel (6), The fixed wheel (6) is electrically connected to the lifting shaft (5), and the hollow part of the load-bearing leg (2) is provided with a rotating shaft (9), and the rotating shaft (9) is fixedly connected to the load-bearing leg (2) , the bottom end of the load-bearing leg (2) is provided with a fixed base (10), the fixed base (10) is fixedly connected with the load-bearing leg (2), and the middle part of the manipulator (7) is provided with a control device (702 ), the control device (702) is electrically connected to the manipulator (7), the top of the manipulator (7) is provided with a servo motor (701), and the servo motor (701) is electrically connected to the manipulator (7), The middle part of the fixed wheel (6) is provided with a transport claw (704), and the transport claw (704) is fixedly connected with the fixed wheel (6), and the middle part of the load-bearing leg (2) is provided with a rotating motor (201 ), the rotating motor (201) is electrically connected to the load-bearing leg (2). 2. A kind of manipulator for handling automobile tires according to claim 1, characterized in that: the bottom end of the support (4) is provided with a universal wheel (8), and the universal wheel (8) is connected with the support ( 4) Fixed connection. 3. A manipulator for handling automobile tires according to claim 1, characterized in that: the bottom end of the manipulator (7) is provided with an alarm device (703), and the alarm device (703) is connected with the manipulator (7) electrical connection. 4. A manipulator for handling automobile tires according to claim 1, characterized in that: an infrared CCD camera (705) is arranged in the middle of the fixed wheel (6), and the infrared CCD camera (705) is connected to the fixed The wheel (6) is electrically connected. 5. A manipulator for handling automobile tires according to claim 1, characterized in that: a solenoid valve (202) is provided at the bottom end of the rotating motor (201), and the solenoid valve (202) is connected to the rotating motor ( 201) Electrical connection. 6. A manipulator for transporting automobile tires according to claim 1, characterized in that: the transport claws (704) are five-jaw chucks. 7. A manipulator for handling automobile tires according to claim 1, characterized in that: the control device (702) adopts a PLC control system.