CN209973671U

CN209973671U - All-round tire transfer robot

Info

Publication number: CN209973671U
Application number: CN201822012429.9U
Authority: CN
Inventors: 邓社平
Original assignee: Chongqing Sheping Intelligent Equipment Technology Co Ltd
Current assignee: Chongqing Sheping Intelligent Equipment Technology Co Ltd
Priority date: 2018-12-03
Filing date: 2018-12-03
Publication date: 2020-01-21
Anticipated expiration: 2028-12-03

Abstract

The utility model discloses an all-round tire transfer robot, including rotating base, this rotating base is connected with down the support arm through first angle modulation spare, and the upper portion of lower support arm has last support arm through second angle modulation spare swing joint, and the free end of going up the support arm has tire clamping device through third angle modulation spare swing joint. Compared with the prior art, the omnibearing tire carrying robot provided by the utility model has compact structure, strong practicability and high carrying position precision, and the tire clamping device on the rotary base and the upper and lower support arms are connected through a plurality of angle adjusting parts in sequence, so that the expansion moving radius in the vertical direction is improved, and the 360-degree omnibearing moving range taking the rotary base as the center is realized; the tire clamping device can flexibly adjust the distance between the clamping arms, is used for clamping and transporting tires with different sizes, and changes the vertical state of the bearing arm close to the bearing cylinder into the horizontal state below the clamped tire to fix the clamped tire.

Description

All-round tire transfer robot

Technical Field

The utility model relates to a car transport technical field, in particular to all-round tire transfer robot.

Background

Tires are ground-rolling annular elastic rubber articles fitted on various vehicles or machines. Generally mounted on a metal rim, and is capable of supporting a vehicle body, buffering external impact, achieving contact with a road surface and ensuring the driving performance of a vehicle. Tires are often used under complicated conditions, and are subjected to various deformations, loads and high and low temperature effects during running, and therefore, must have high load-bearing performance, cushioning performance, high wear resistance and flexing resistance, and low rolling resistance and heat buildup.

The defects of the prior art are as follows: because the weight of the tire used by a large vehicle is very heavy, and the tire can not be carried by manpower at all, the tire is generally carried by using machinery, in order to prevent the surface of the tire from being damaged, the tire can not be carried by using a hook or a chain, the tire can be carried by using a forklift, the carrying efficiency is low, the cost is high, or the tire carrying robot is used for completing the operation with heavy physical strength and repeated fussy operation, and tire gripping devices at the tail ends of the robot act on the outer surface of the carried tire in a clamping manner, so that the defects of large size and large occupied space of an operation end of the device which is in direct contact with a carried object exist, or the tire cannot be well clamped when in use, the tire cannot be better fixed, and inconvenience and time waste are brought to the installation, circulation and maintenance of the tire; the distance between the operation ends for clamping the tires can not be adjusted when the device is used, and the operation ends for carrying the tires with different sizes are needed when the tires with different sizes are carried, so that the device has the problems of poor universality and the like, and brings great inconvenience to installation, circulation and maintenance.

SUMMERY OF THE UTILITY MODEL

For solving above technical problem, the utility model provides an all-round tire transfer robot to solve the handling efficiency low, with high costs, the not high and tire grabbing device occupation space of transport position precision is big, clamping stability is not high, the poor problem of operation commonality.

The utility model adopts the technical scheme as follows: the utility model provides an all-round tire transfer robot, the key lies in: the tire clamping device comprises a rotary base, wherein the rotary base is connected with a lower support arm through a first angle adjusting part, the upper part of the lower support arm is movably connected with an upper support arm through a second angle adjusting part, and the free end of the upper support arm is movably connected with a tire clamping device through a third angle adjusting part;

the tire clamping device comprises a mounting frame, a fixing plate is horizontally arranged on the mounting frame, two telescopic clamping assemblies are arranged over the fixing plate, a bearing cylinder is vertically arranged below the fixing plate, a lifting device is arranged in the bearing cylinder, at least two bearing arms are arranged around the bearing cylinder, the upper portions of the bearing arms are movably connected with a same locking ring, a guide plate is arranged below the bearing arms, the guide plate is fixedly connected with the outer cylinder wall of the bearing cylinder, a strip-shaped through hole is vertically formed in the cylinder wall of the bearing cylinder, a connecting rod is horizontally arranged in the strip-shaped through hole in a penetrating mode, and the locking ring is fixedly connected with the lifting device through the connecting rod.

The beneficial effect of above scheme is tire clamping device, connect through a plurality of angle modulation spare between the upper and lower cantilever, have fairly high motion flexibility, better rotation adaptability enlarges the activity radius, can cover wider operating space, flexible centre gripping subassembly can carry out the centre gripping with not unidimensional tire as the condition is fixed, and elevating gear drives the locking ring downstream, and then make the bearing arm remove to the tire below by the centre gripping, carry out further fixed to the tire, prevent that the tire from droing at the operation in-process.

Preferably, flexible centre gripping subassembly includes just to the centre gripping arm that sets up and the sharp electric putter that the level set up, two the vertical setting of centre gripping arm, two the upper end horizontally connect of centre gripping arm has same centre gripping arm positioning seat, centre gripping arm positioning seat with mounting bracket sliding connection, sharp electric putter's pole head with centre gripping arm positioning seat fixed connection, the upper surface of fixed plate is just to being equipped with two push rod connecting seats, sharp electric putter's base with respectively with be close to push rod connecting seat fixed connection.

The effect of this scheme is that the interval between two centre gripping arms can be adjusted according to the circumstances to sharp electric putter to carry out the centre gripping transport to not unidimensional tire, and the centre gripping in-process at the tire is difficult for skidding, prevents that the tire from droing.

Preferably, the lifting device comprises a screw motor, a lifting seat is arranged on a ball screw of the screw motor in a threaded manner, two ends of the connecting rod are fixedly connected with the lifting seat and the locking ring respectively, a T-shaped guide groove is vertically formed in the lifting seat, a matched T-shaped bump is arranged in the T-shaped guide groove, and the T-shaped bump is fixedly connected with the inner cylinder wall of the bearing cylinder.

The effect of this scheme is can drive the motion of locking ring through adjusting the position of seat in the bearing section of thick bamboo that goes up and down, and then makes and accept the arm motion to the tire below by the centre gripping, keeps off the tire and connects.

Preferably, the mounting bracket is the rectangle frame, the dead right both sides limit of fixed plate respectively with the long limit fixed connection of rectangle frame, the long limit of rectangle frame goes up fixedly connected with linear guide, slidable mounting has the direction slider on the linear guide, the upper surface of direction slider with the lower fixed surface of centre gripping arm positioning seat is connected, the lower extreme of bearing arm is connected with the pulley, the upper end of bearing arm with the locking collar is articulated, be equipped with the stopper on the locking collar.

The proposal has the effects that the guide slide block is matched with the linear guide rail to enhance the clamping stability and the positioning stability of the tire, and the pulley and the limiting block are matched to ensure that the bearing arm is smoothly changed from a vertical state to a horizontal state in the downward moving process so as to position and fix the clamped tire,

preferably, the guide plate is an annular plate, the inner ring end surface of the annular plate is fixedly connected with the cylinder wall of the bearing cylinder, and the outer ring end surface of the annular plate inclines downwards.

The effect of this scheme can further improve the smoothness of bearing arm motion in-process.

Preferably, the number of the supporting arms is four, and the four supporting arms are respectively arranged close to the supporting cylinder.

The effect of this scheme is further improvement to the bearing stability of tire.

Preferably, the length of the clamping arm is greater than that of the bearing arm, and the length of the bearing arm is greater than the inner diameter of the tire.

Preferably, the first angle adjusting part comprises a lower arm mounting seat and a lower arm driving cylinder, the lower arm mounting seat is fixedly mounted on the rotary base, the lower arm mounting seat is hinged to the lower portion of the lower support arm, a piston rod of the lower arm driving cylinder is movably connected with the lower end of the lower support arm, and a base of the lower arm driving cylinder is fixedly connected with the lower arm mounting seat.

The effect of this scheme is that the mode single degree of freedom that the lower arm can rotate along vertical plane is installed with the cooperation of lower arm mount pad.

Preferably, the second angle adjusting part comprises an upper arm mounting seat, one end of the upper arm mounting seat is fixedly connected with the upper arm, the other end of the upper arm mounting seat is fixedly connected with a driving motor I, and the upper portion of the lower arm is fixedly arranged on an output shaft of the driving motor I in a penetrating mode.

The effect of this scheme is that upper arm can be connected with lower arm along the mode of vertical plane rotation.

Preferably, the third angle adjusting part comprises a clamping connecting seat and a driving motor II, a clamping groove is formed in the free end face of the upper supporting arm, a connecting shaft is arranged at one end of the clamping connecting seat in a penetrating mode, two ends of the connecting shaft are hinged to two groove walls of the clamping groove respectively, a base of the driving motor II is fixedly connected with the fixing plate, and an output shaft of the driving motor II is fixedly connected with the other end of the clamping connecting seat.

The effect of this scheme is that a bearing section of thick bamboo can be connected with the centre gripping connecting seat around self axis pivoted mode, and the centre gripping connecting seat can be connected with last arm along vertical plane pivoted mode.

Has the advantages that: compared with the prior art, the utility model provides an all-round tire transfer robot, compact structure, practicality are strong, and occupation space is little, can cover wider operating space, and transport position precision is high. The tire clamping device on the rotary base and the upper and lower support arms are connected through the plurality of angle adjusting parts, so that the movable radius of the upper support arm and the lower support arm in the vertical direction is increased, the 360-degree all-dimensional movable range with the rotary base as the center is realized, the control precision is improved, and the manufacturing and maintenance cost is reduced; tire clamping device passes through the nimble distance of adjusting between the centre gripping arm of sharp electric putter, it is more accurate to make the centre gripping arm move to target in place, be applicable to the centre gripping transportation of not unidimensional tire, and centre gripping arm size is little, occupation space is little, therefore, the clothes hanger is strong in practicability, the smooth vertical state who is located by centre gripping tire below of following the vertical state who presses close to the bearing section of thick bamboo that the in-process of accepting the arm motion downstream is transformed into through the elevating gear that sets up in the bearing section of thick bamboo, thereby it is fixed to the location of the tire of quilt centre gripping to realize, make the tire have dual firm effect in the transportation, prevent that the tire from dro.

Drawings

Fig. 1 is a schematic structural view of a first viewing angle of the present invention;

FIG. 2 is a schematic structural view of a second viewing angle of the present invention;

FIG. 3 is a schematic perspective view of the tire retaining device c of FIG. 1;

FIG. 4 is a schematic view of the tire gripping apparatus c of FIG. 1;

fig. 5 is a sectional view a-a of fig. 4.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be described in detail with reference to the accompanying drawings and the detailed description.

Examples

As shown in fig. 1 to 5, an all-directional tire transfer robot comprises a rotary base 1, wherein the rotary base 1 is connected with a lower support arm a through a first angle adjusting part 2, the upper part of the lower support arm a is movably connected with an upper support arm b through a second angle adjusting part 3, and the free end of the upper support arm b is movably connected with a tire clamping device c through a third angle adjusting part 4;

the first angle adjusting part 2 comprises a lower arm mounting seat 21 and a lower arm driving cylinder 22, the lower arm mounting seat 21 is fixedly mounted on the rotating base 1, the lower arm mounting seat 21 is hinged with the lower part of the lower support arm a, a piston rod of the lower arm driving cylinder 22 is movably connected with the lower end of the lower support arm a, and a base of the lower arm driving cylinder 22 is fixedly connected with the lower arm mounting seat 21;

the second angle adjusting part 3 comprises an upper arm mounting seat 31, one end of the upper arm mounting seat 31 is fixedly connected with the upper support arm b, the other end of the upper arm mounting seat 31 is fixedly connected with a driving motor I32, and the upper part of the lower support arm a is fixedly arranged on an output shaft of the driving motor I32 in a penetrating manner;

third angle adjusting part 4 includes centre gripping connecting seat 41 and driving motor II42, joint groove 43 has been seted up on the free end face of last support arm b, the connecting axle is worn to be equipped with by the one end of centre gripping connecting seat 41, the both ends of this connecting axle respectively with two cell walls in joint groove 43 are articulated, driving motor II 42's base with fixed plate c8 fixed connection, driving motor II 42's output shaft with the other end fixed connection of centre gripping connecting seat 41.

As can be seen from fig. 3-5, the tire holding device c includes a mounting frame c1, a fixing plate c8 is horizontally disposed on the mounting frame c1, the mounting frame c1 is a rectangular frame, two opposite sides of the fixing plate c8 are respectively fixedly connected to the long sides of the rectangular frame, two telescopic holding assemblies c2 are respectively disposed above the fixing plate c8, a supporting cylinder c31 is vertically disposed below the fixing plate c8, a lifting device c32 is disposed in the supporting cylinder 31, the top of the supporting cylinder c31 is fixedly connected to the lower surface of the fixing plate 8, four supporting arms 33 are disposed around the supporting cylinder c31, the four supporting arms c33 are respectively disposed adjacent to the supporting cylinder c31, the upper portions of the four supporting arms 33 are movably connected to a same locking c34, a locking ring c7 is disposed on the locking ring c34, the upper end of the supporting arm 33 is hinged to the supporting arm c34, and the lower end of the supporting arm c33 is connected to a pulley c6, a guide plate c35 is arranged below the bearing arm 33, the guide plate c35 is fixedly connected with the outer cylinder wall of the bearing cylinder c31, a strip-shaped through hole c36 is vertically formed in the cylinder wall of the bearing cylinder c31, a connecting rod c37 horizontally penetrates through the strip-shaped through hole c36, and the locking ring c34 is fixedly connected with the lifting device c32 through the connecting rod c 37;

the telescopic clamping component c2 comprises clamping arms c21 which are arranged oppositely and a linear electric push rod c22 which is arranged horizontally, the two clamping arms c21 are arranged vertically, the upper ends of the two clamping arms c21 are horizontally connected with the same clamping arm positioning seat c23, the long edge of the rectangular frame is fixedly connected with a linear guide rail c11, a guide slide block c12 is slidably mounted on the linear guide rail c11, the upper surface of the guide slide block c12 is fixedly connected with the lower surface of the clamping arm positioning seat c23, the head of the linear electric push rod c22 is fixedly connected with the clamping arm positioning seat c23, the upper surface of the fixed plate c8 is provided with two push rod connecting seats c24 in a right-faced way, the base of the linear electric push rod c22 is fixedly connected with the push rod connecting seat c24 which is close to the base, the length of gripper arm c21 is greater than the length of carrier arm c33, and the length of carrier arm c33 is greater than the inner diameter of the tire.

As can be seen in fig. 4 and 5, the lifting device c32 includes a screw motor c321, a lifting seat c322 is threaded through a ball screw of the screw motor c322, two ends of the connecting rod c37 are respectively fixedly connected with the lifting seat c322 and the locking ring c34, a T-shaped guide groove c4 is vertically formed on the lifting seat c322, a corresponding T-shaped protrusion c5 is arranged in the T-shaped guide groove c4, and the T-shaped protrusion c5 is fixedly connected with the inner cylinder wall of the bearing cylinder c 31;

the guide plate c35 is an annular plate, the inner ring end surface of the annular plate is fixedly connected with the cylinder wall of the bearing cylinder c31, and the outer ring end surface of the annular plate is inclined downwards.

During operation, the linear electric push rod 22 is started to clamp the tire between the clamping arms 21, then the screw rod motor 32a is started, the lifting seat 32b drives the locking ring c34 to move downwards, so that the bearing arm 33 descends, the movement track is changed after the pulley 6 at the lower end of the bearing arm 33 contacts the guide plate 35, and finally the vertical state close to the bearing cylinder is changed into the horizontal state below the clamped tire, so that the clamped tire is positioned and fixed.

Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and that those skilled in the art can make various similar representations without departing from the spirit and scope of the present invention.

Claims

1. The utility model provides an all-round tire transfer robot which characterized in that: the tire clamping device comprises a rotary base (1), wherein the rotary base (1) is connected with a lower support arm (a) through a first angle adjusting part (2), the upper part of the lower support arm (a) is movably connected with an upper support arm (b) through a second angle adjusting part (3), and the free end of the upper support arm (b) is movably connected with a tire clamping device (c) through a third angle adjusting part (4);

the tire clamping device (c) comprises a mounting frame (c1), a fixing plate (c8) is horizontally arranged on the mounting frame (c1), two telescopic clamping components (c2) are arranged over the fixed plate (c8) in a right-to-upper way, a bearing cylinder (c31) is vertically arranged under the fixed plate (c8), a lifting device (c32) is arranged in the bearing cylinder (c31), at least two bearing arms (c33) are arranged around the bearing cylinder (c31), the upper parts of a plurality of bearing arms (c33) are movably connected with the same locking ring (c34), a guide plate (c35) is arranged below the bearing arm (c33), the guide plate (c35) is fixedly connected with the outer cylinder wall of the bearing cylinder (c31), the wall of the bearing cylinder (c31) is vertically provided with a strip-shaped through hole (c36), a connecting rod (c37) horizontally penetrates through the strip-shaped through hole (c36), and the locking ring (c34) is fixedly connected with the lifting device (c32) through the connecting rod (c 37).

2. The all-directional tire transfer robot of claim 1, wherein: flexible centre gripping subassembly (c2) is including just to the straight line electric putter (c22) of centre gripping arm (c21) and the level setting of setting, two the vertical setting of centre gripping arm (c21), two the upper end horizontally connected with of centre gripping arm (c21) has same centre gripping arm positioning seat (c23), centre gripping arm positioning seat (c23) with mounting bracket (c1) sliding connection, the pole head of straight line electric putter (c22) with centre gripping arm positioning seat (c23) fixed connection, the upper surface of fixed plate (c8) just is equipped with two push rod connecting seats (c24), the base of straight line electric putter (c22) with respectively with be close to push rod connecting seat (c24) fixed connection.

3. The all-directional tire transfer robot of claim 1 or 2, wherein: the lifting device (c32) comprises a screw rod motor (c321), a lifting seat (c322) is arranged in a threaded mode through a ball screw rod of the screw rod motor (c321), two ends of a connecting rod (c37) are fixedly connected with the lifting seat (c322) and the locking ring (c34) respectively, a T-shaped guide groove (c4) is vertically formed in the lifting seat (c322), a T-shaped convex block (c5) which is adaptive to the T-shaped guide groove (c4) is arranged in the T-shaped guide groove, and the T-shaped convex block (c5) is fixedly connected with the inner cylinder wall of the bearing cylinder (c 31).

4. The all-directional tire transfer robot of claim 2, wherein: mounting bracket (c1) is the rectangle frame, fixed plate (c8) just right both sides limit respectively with the long limit fixed connection of rectangle frame, fixedly connected with linear guide (c11) on the long limit of rectangle frame, slidable mounting has direction slider (c12) on linear guide (c11), the upper surface of direction slider (c12) with the lower fixed surface of centre gripping arm positioning seat (c23) is connected, the lower extreme of bearing arm (c33) is connected with pulley (c6), the upper end of bearing arm (c33) with locking ring (c34) are articulated, be equipped with stopper (7) on locking ring (c 34).

5. The omni directional tire transfer robot of any one of claims 1, 2 or 4, wherein: the guide plate (c35) is an annular plate, the inner ring end surface of the annular plate is fixedly connected with the cylinder wall of the bearing cylinder (c31), and the outer ring end surface of the annular plate inclines downwards.

6. The all-directional tire transfer robot of claim 2 or 4, wherein: the number of the supporting arms (c33) is four, and the four supporting arms (c33) are respectively arranged close to the supporting cylinder (c 31).

7. The all-directional tire transfer robot of claim 4, wherein: the length of the gripper arm (c21) is greater than the length of the carrier arm (c33), and the length of the carrier arm (c33) is greater than the inner diameter of the tire.

8. The omni directional tire transfer robot of any one of claims 1, 4 or 7, wherein: first angle adjusting part (2) include underarm mount pad (21) and underarm actuating cylinder (22), underarm mount pad (21) fixed mounting be in on rotary base (1), underarm mount pad (21) with the lower part of lower support arm (a) is articulated, the piston rod of underarm actuating cylinder (22) with the lower extreme swing joint of lower support arm (a), the base of underarm actuating cylinder (22) with underarm mount pad (21) fixed connection.

9. The all-directional tire transfer robot of claim 8, wherein: the second angle adjusting piece (3) comprises an upper arm mounting seat (31), one end of the upper arm mounting seat (31) is fixedly connected with the upper support arm (b), the other end of the upper arm mounting seat (31) is fixedly connected with a driving motor I (32), and the upper portion of the lower support arm (a) is fixedly arranged on an output shaft of the driving motor I (32) in a penetrating mode.

10. The all-directional tire transfer robot of claim 7 or 9, wherein: third angle adjusting part (4) include centre gripping connecting seat (41) and driving motor II (42), joint groove (43) have been seted up on the free end face of last support arm (b), the connecting axle is worn to be equipped with by the one end of centre gripping connecting seat (41), the both ends of this connecting axle respectively with two cell walls in joint groove (43) are articulated, the base of driving motor II (42) with fixed plate (c8) fixed connection, the output shaft of driving motor II (42) with the other end fixed connection of centre gripping connecting seat (41).