CN210257348U

CN210257348U - Automatic grabbing and transferring device for multi-size flexible tire blanks

Info

Publication number: CN210257348U
Application number: CN201920461161.9U
Authority: CN
Inventors: 郑哲; 李松梅
Original assignee: Qingdao University of Science and Technology
Current assignee: Qingdao University of Science and Technology
Priority date: 2019-04-03
Filing date: 2019-04-03
Publication date: 2020-04-07
Anticipated expiration: 2029-04-03

Abstract

The utility model discloses an automatic transfer device that snatchs of flexible child embryo of many sizes, include: a clamping device and a transferring device; the clamping device comprises: the clamping machine frame assembly, the transmission device and the telescopic device; the transfer device includes: the device comprises a rotary base, a rotating device, a telescopic device and a lifting device; the transmission device is arranged in the middle of the inside of the clamping rack assembly, the telescopic device is arranged at the edge of the inside of the clamping rack assembly, the clamping rack assembly is arranged on the lifting device of the transfer device, the lifting device is arranged at the front end of the telescopic device, the telescopic device is arranged on the rotating device, and the rotating device is arranged on the rotary base; the utility model discloses an automatic grabbing and transferring device for multi-size flexible green tires, which has simple structure and small overall mass, reduces the load of mechanical arms, reduces the inertia force and improves the working stability; the tire grabbing device is suitable for grabbing tires with different inner diameters, improves the production efficiency of the tires, and particularly improves the production efficiency of small-batch tires.

Description

Automatic grabbing and transferring device for multi-size flexible tire blanks

Technical Field

The design relates to an automatic grabbing and transferring device for multi-size flexible tire blanks, in particular to a grabbing device which is used for carrying unfinished tire blanks in a tire production process and is suitable for grabbing tire blanks with different inner diameters.

Background

The tire is ring shape elastic rubber goods, its manufacturing process is also very complicated, it is comparatively soft yielding to its texture of semi-manufactured goods child embryo, the mode working strength who adopts artifical transport is big, the mode that adopts machine and manual work to combine together is adopted to most mill at present, also some manufacturers adopt the machine transport, because the child embryo makes production quality decline more soft easily, also need change different types of manipulator when producing the tire of different diameters simultaneously, cause the reduction of production efficiency, how to guarantee the quality of tire and improve production efficiency and become the problem that needs to solve now.

Disclosure of Invention

The invention aims to provide a multi-size flexible embryo automatic grabbing and transferring device capable of grabbing embryos with different diameters, which can realize flexible grabbing of embryos without damaging the embryos.

In order to solve the problems of grabbing green tires with different diameters and flexibly grabbing the green tires, the invention adopts the technical scheme that:

the utility model provides an automatic transfer device that snatchs of flexible child embryo of many sizes which characterized in that: the method comprises the following steps: a clamping device and a transferring device; the clamping device is of a disc-shaped structure, three clamping plates are arranged on the side surface of the clamping device, the three clamping plates automatically extend out and act on the inner side of the tire blank at the same time, and the tire blank is clamped through the expansion and contraction of the clamping plates; the transfer device has three degrees of freedom, clamping device installs on transfer device's the landing gear, behind clamping device held the child embryo, thereby transfer device drives clamping device carries out the work of snatching that position removed realization child embryo in the cubical space.

Further, the clamping device includes: the clamping machine frame assembly, the transmission device and the telescopic device I are arranged on the clamping machine frame; the transmission device is installed the inside central point of centre gripping frame subassembly puts, telescoping device I has three groups, and every group structure is the same, telescoping device I installs the inside border position of centre gripping frame subassembly be evenly distributed with transmission device is articulated.

Further, the clamping frame assembly comprises: the device comprises a frame cover, a frame mounting seat, a clamping frame and a transmission device cover; the clamping rack is of a disc-shaped structure, a stepped hole for mounting a bearing is formed in the center of the lower bottom surface, three groups of stepped holes for mounting the bearing are uniformly distributed around the central axis, each group is provided with two stepped holes, the side wall of the clamping rack is provided with three through holes, and six threaded holes are formed in the upper surface of the side wall; the rack cover is of a circular thin plate structure, six through holes are uniformly distributed in the edge of the rack cover, and the rack cover is installed on the clamping rack through bolts; the rack mounting seat is of a hollow cylindrical structure, three square notches are formed in the side wall of the rack mounting seat and used for radiating heat of an internal vertical motor, a mounting support is welded at the bottom of the rack mounting seat, six threaded holes are formed in the top of the rack mounting seat, and the rack mounting seat is mounted on the clamping rack through the six threaded holes in the top of the rack mounting seat; the transmission device cover is of a hollow cylindrical structure with one closed end, a stepped hole for mounting a bearing is formed in the center of the bottom surface, three square notches are formed in the edge of the bottom surface, the transmission device cover is mounted in the clamping rack through bolts, and a pair of angular contact ball bearings are mounted in the stepped hole between the clamping rack and the transmission device cover.

Further, the transmission device includes: the device comprises a vertical motor, a driving dial, a driven grooved pulley, a transmission gear I, a transmission gear II, a transmission crank, a transmission connecting rod, a driving dial stepped shaft, a driven grooved pulley stepped shaft and a transmission gear stepped shaft; the front end of the vertical motor is provided with a flange which is mounted on the bottom surface of a clamping rack of the clamping rack assembly through the flange, the driving drive plate stepped shaft is fixed on the clamping rack and the transmission device cover through a pair of angular contact ball bearings, three round pins are processed on the driving drive plate, the driving drive plate is circumferentially positioned through key connection and axially positioned through a shaft shoulder, so that the driving drive plate stepped shaft is fixedly mounted on the driving drive plate stepped shaft, and the top surface of the driving drive plate is axially fixed through a round nut and a stop washer; the lower end of the driving drive plate stepped shaft is connected with an output shaft of the vertical motor through a coupler; the driven sheave is provided with four grooves, the driven sheave is matched with the driving drive plate, the driven sheave is mounted on the driven sheave stepped shaft through key connection to realize circumferential positioning, the driven sheave and the lower end of the driven sheave stepped shaft are axially positioned through a shaft shoulder, and the upper end of the driven sheave and the lower end of the driven sheave stepped shaft are axially fixed through a round nut and a stop washer; the driven sheave stepped shaft is installed in a stepped hole in a clamping rack of the clamping rack assembly through a self-aligning bearing and is fixed through a bearing end cover, the transmission gear I is installed on the driven sheave stepped shaft through a key connection, the lower end of the transmission gear I is axially positioned through a shaft shoulder, and the upper end of the transmission gear I is fixed with the driven sheave through a sleeve; the transmission gear II is meshed with the transmission gear I, the transmission gear II and the transmission crank are mounted on the transmission gear stepped shaft through key connection, the lower end of the transmission gear II is axially positioned through a shaft shoulder, the upper end of the transmission gear II is fixed with the transmission crank through a sleeve, and the transmission crank is axially fixed through a round nut and a stop washer; the transmission gear stepped shaft is installed in a stepped hole in a clamping rack of the clamping rack assembly through a self-aligning bearing and is fixed through a bearing end cover; one end of the transmission crank is hinged with the transmission connecting rod, and the other end of the transmission connecting rod is hinged with a push rod of the telescopic device I to form a crank sliding block mechanism; the driven grooved pulley, the transmission gear I, the transmission gear II, the transmission crank and the transmission connecting rod are all three in number, the structures of the driven grooved pulley, the transmission gear I, the transmission gear II, the transmission crank and the transmission connecting rod are the same, and the driven grooved pulley, the transmission gear I, the transmission crank and the transmission connecting rod are uniformly distributed around the axis of a clamping rack of the clamping rack; the driving plate and the driven grooved wheel form a grooved wheel mechanism with a motion coefficient of 3/4, when the driving plate rotates for 1/3 circles, the driven grooved wheel rotates for 1/4 circles, then the transmission gear I rotates for 1/4 circles through a gear speed change mechanism formed by the transmission gear I and the transmission gear II, the transmission gear I changes into 1/2 circles of the transmission gear II, the motion mode of the transmission crank is 180-degree intermittent rotation motion around a transmission gear stepped shaft, and the transmission connecting rod is driven to move so as to drive the push rod of the expansion device I to do intermittent linear reciprocating motion.

Further, there are three telescoping devices I, and its structure is the same installs on the centre gripping frame and be 120 evenly distributed, and every set of telescoping device I includes: the clamping device comprises a clamping plate, a clamping plate connecting rod, a buffer rod, a spring seat, a length adjusting rod, a clamping block, a spring pin, an adjusting rod hole, a push rod and a linear guide rail; the clamping blocks are two blocks and have the same structure, the clamping blocks are cuboid, one side surface of each clamping block is an inner arc surface, the top surface of each clamping block is provided with two through holes for fixing, the length adjusting rod is of a hollow cylinder structure, the inner diameter of the front end of each clamping block is provided with an internal thread, the side surface of the rear end of each clamping block is provided with 8 adjusting rod holes which are axially arranged, the length adjusting rod is clamped by the two clamping blocks, the two clamping blocks are connected and installed on the linear guide rail through bolts, the linear guide rail is provided with two sets, and the two sets of clamping blocks are installed on a clamping rack; the push rod is a cylinder with a hollow front end and a solid rear end, the rear end is provided with a hinged support, the side wall of the front end is provided with a through hole, the inner wall of the push rod coaxial with the through hole is welded with the spring pin, the spring pin is connected with the push rod and the length adjusting rod, and the total length of the telescopic device I is adjusted by changing the matching of the spring pin and the adjusting rod holes at 8 different positions; the buffer rod is of a cylindrical structure, a stepped hole is formed in the middle of the buffer rod, the clamping plate connecting rod is limited, an internal thread and an external thread are formed in one end with a large aperture, the spring is mounted in the large aperture portion of the buffer rod, the clamping plate is in flexible jacking contact with the inner ring of a tire blank, threads are arranged on the outer contour of the spring seat, the spring seat is mounted at one end with the large aperture of the buffer rod through threaded connection, the buffer rod is mounted at the front end of the length adjusting rod through threaded connection at one end with the large aperture, the clamping plate connecting rod is of a cylindrical structure with two diameters different in size, the large aperture portion is matched with the large aperture portion of the stepped hole of the buffer rod, the small aperture portion is matched with the small aperture portion of the stepped hole of the buffer rod, threads are formed on the outer contour of one end with a small aperture of, the upper end and the lower end of the clamping plate are respectively provided with an outward bent plate which is convenient for clamping the inner side of a green tire, the middle of the clamping plate is provided with a threaded hole, and the clamping plate is connected with the small-diameter part of the clamping plate connecting rod through threaded connection, so that the inner side of the green tire is convenient to adapt to the grabbing work of green tires with more diameters due to small variation range of the inner diameters of the green tires with different sizes, and the inner side of the green tire is selected to be clamped; the telescopic device I manually adjusts the position of the spring pin in the adjusting rod hole according to the inner diameters of the tire blanks with different sizes to change the total length of the telescopic device I so as to achieve the purpose of clamping the tire blanks with different inner diameters, and the damage of the clamping plate to the tire blanks is reduced through the buffering effect of the spring.

Further, the transfer device comprises: the device comprises a rotary base, a rotating device, a telescopic device II and a lifting device; the swivel base includes: the device comprises a servo motor, a worm wheel, a worm, a rolling bearing, a base and a box body; the worm wheel is of a gear ring type structure, the wheel rim is made of cast tin bronze materials, a raceway groove is machined in the inner wall of the worm wheel and connected with the rolling bearing to serve as an outer ring of the rolling bearing, and a circle of uniformly distributed threaded holes are machined in the end face of the inner ring of the rolling bearing and used for being fixedly connected with a rotating support of the rotating device; the worm is meshed with the worm wheel, the servo motor is connected with the worm through a coupler, the base is connected with a ground foundation through foundation bolts, the box body covers the servo motor, the worm wheel, the worm and the rolling bearing to prevent external impurities from invading, and the box body is fixed on the base; the servo motor drives the worm to rotate, the worm drives the worm wheel to rotate, and the worm wheel is connected with the base through a rolling body of the rolling bearing so that the worm wheel rotates relative to the base; the rotating device is installed on the rotary base through bolt connection, rotation of the rotating device is achieved, the lead angle of the worm is smaller than the equivalent friction angle between the tooth surfaces of the meshed gears, self-locking is achieved in the rotating process, the telescopic device II is installed on the rotating device through sliding fit, and the landing gear is installed at the front end of the telescopic device II.

Further, the rotating device includes: the rotary support, the rack mounting plate, the rotary arm main body and the rack are arranged on the rotary support; the top and the bottom of the rotary support are provided with connecting flanges, and the flanges are provided with six through holes which are uniformly distributed and used for installation; the rotary arm main body is of a cuboid structure with a convex groove in the middle, a linear guide rail is arranged at the bottom of the convex groove, a rectangular channel for wiring is also arranged at the bottom of the convex groove, and a through hole for wiring is arranged at the bottom of the rectangular channel; the rack mounting panel is for opening the rectangular board that has seven through-holes, the rack mounting panel is connected to through welding mode the side above the swinging boom main part, the rack passes through bolted connection and installs on the rack mounting panel, the swinging boom main part pass through the bolt with the top flange joint of rotatory support, and make the through-hole of swinging boom main part bottom with the through-hole in the middle of the rotatory support is coaxial.

Further, the telescopic device II comprises: the telescopic motor, the telescopic device main body and the telescopic motor gear are arranged on the telescopic device; the telescoping device main part is the cuboid structure that the rear end is "protruding" shape front end is the rectangle, and bottom installation slider with linear guide in rotary arm main part of rotary device connects, the front end of telescoping device main part is opened there is "L" shape hole, is used for the installation to place the device that rises, flexible motor passes through bolted connection and installs the top surface of telescoping device main part rear end, flexible motor gear passes through the key-type connection and installs on the flexible motor, flexible motor gear with rotary device's rack toothing.

Further, the landing gear includes: the device comprises a slide block guide rail, a slide block connecting rod, a parallel rod I, a parallel rod II, a vertical rod, a clamping device mounting seat, a supporting rod seat, a lifting rocker, a lifting crank, a speed change device and a lifting motor; the slider guide rail is of a cuboid structure with a square groove in the middle, the inner side is smooth, a rectangular notch is formed in the side face, through holes for installation are formed in the two ends of the slider guide rail, the slider guide rail is installed on the side face of an expansion device body of the expansion device II through bolt connection, an L-shaped hole is formed in the front end of the expansion device body, the slider is of a cuboid structure, a round shaft is welded on the side face, through holes are formed in the two ends of a slider connecting rod respectively, one end of each slider connecting rod is matched with and welded and fixed to the round shaft of the slider, the other end of each slider connecting rod is vertically upward, the length of the parallel rod I is the same as that of the parallel rod II, a through hole for installing the supporting rod is formed in the middle of the parallel rod II, a through hole for installing the parallel rod I is formed in the position, which is the distance from the upper, one end of the parallel rod I is hinged with the upper end of the sliding block connecting rod, the other end of the parallel rod I is hinged with the upper end of the vertical rod, the parallel rod II is parallel to the parallel rod I, one end of the parallel rod II is hinged with the other end of the vertical rod II through the middle hole of the vertical rod, one end of the support rod is hinged with the support rod seat through the middle hole of the parallel rod II and the other end of the support rod II, the support rod seat is a square plate, four installation through holes are formed in the upper surface of the support rod seat, an installation support with through holes is welded in the middle of the upper surface of the support rod seat, the support rod seat is installed in front of an L-shaped hole in the front end of a telescopic device main body of the telescopic device II, the clamping device installation seat is of a disc-shaped structure, six through holes for installation are evenly distributed in the edge, a square platform with square holes is welded in the upper surface, two through, the clamping device mounting seat is mounted on the vertical rod through threaded connection, one end of the lifting rocker is hinged to the support rod, the other end of the lifting rocker is hinged to the lifting crank, the lifting crank is connected with an output shaft of the speed change device and fixed through a nut, the lifting motor is mounted on a telescopic device body of the telescopic device II, a bevel gear I of the speed change device is mounted on an output shaft of the lifting motor through key connection, a bevel gear II in the speed change device is mounted on the output shaft of the speed change device, the bevel gear I is meshed with the gear II, and the axis of the bevel gear I is 90 degrees; the lifting crank is the shortest rod, the lifting rocker and the lifting crank form a crank rocker mechanism, the sliding block connecting rod, the parallel rod I, the parallel rod II and the vertical rod form a parallel four-bar mechanism, and the sliding block connecting rod is rigidly connected with the sliding block, so that the vertical rod does up-and-down reciprocating motion, and the green tire is grabbed.

Further, when the multi-size flexible tire blank automatic grabbing and transferring device works, the rotary base acts, the telescopic device II extends forwards under the driving of the telescopic motor, the lifting motor drives the lifting crank to rotate to drive the lifting rocker to swing, the vertical rod moves downwards under the action of the parallel four-bar mechanism consisting of the sliding block, the sliding block connecting rod, the parallel rod I, the parallel rod II and the vertical rod, the vertical motor acts to convert the rotation into intermittent linear reciprocating motion under the action of the geneva mechanism and the linear guide rail in the transmission device, the push rod transmits power to the length adjusting rod through the spring pin, the length adjusting rod transmits the power to the buffer rod, the clamping plate connecting rod has a buffer function when transmitting the power under the action of the spring to protect the tire blank, the power is transmitted to the clamping plate through the clamping plate connecting rod, the lifting device ascends under the action of the clamping plates at the upper edge and the lower edge of the clamping plate to clamp the tire blank, after the rotary base and the telescopic device II are matched to finish the transportation process, the lifting device falls down, the vertical motor continues to act, and the linear guide rail intermittently returns to enable the clamping plate to move backwards so as to enable the green tires to be put down.

The multi-size flexible embryo automatic grabbing and transferring device has the beneficial effects that:

(1) the multi-size flexible green tire automatic grabbing and transferring device is simple in structure and small in overall mass, reduces the load of a mechanical arm, enables the inertia force to be small, and improves the working stability;

(2) the multi-size flexible tire blank automatic grabbing and transferring device is suitable for grabbing tire blanks with different inner diameters, improves the production efficiency of tires, and particularly improves the production efficiency of small-batch tires;

(3) the multi-size flexible tire blank automatic grabbing and transferring device can reduce damage to semi-finished tires during grabbing and improve the product quality of the tires.

Drawings

FIG. 1: the invention discloses an overall appearance diagram of an automatic multi-size flexible green tire grabbing and transferring device;

FIG. 2: the invention discloses an appearance front view of a clamping device of an automatic multi-size flexible green tire grabbing and transferring device;

FIG. 3: the invention relates to an appearance rear view of a clamping device of an automatic multi-size flexible green tire grabbing and transferring device;

FIG. 4: the multi-size flexible green tire automatic grabbing and transferring device clamps an internal drawing of a rack;

FIG. 5: the invention relates to an internal diagram of a transmission device cover of a multi-size flexible green tire automatic grabbing and transferring device;

FIG. 6: the invention relates to a detailed drawing of a transmission device of an automatic multi-size flexible green tire grabbing and transferring device;

FIG. 7: the invention relates to a detailed view of a telescopic device I of an automatic multi-size flexible green tire grabbing and transferring device;

FIG. 8: the invention discloses an appearance diagram of a clamping block of an automatic multi-size flexible green tire grabbing and transferring device;

FIG. 9: the invention relates to an appearance diagram of a rotating device of an automatic multi-size flexible green tire grabbing and transferring device;

FIG. 10: the invention relates to an appearance diagram of a telescopic device II of an automatic multi-size flexible green tire grabbing and transferring device;

FIG. 11: the invention relates to a front view of a landing gear of an automatic grabbing and transferring device for multi-size flexible green tires;

FIG. 12: the invention relates to a side view of a landing gear of an automatic grabbing and transferring device for multi-size flexible green tires.

In the figure: 1-clamping device, 2-transfer device, 10-clamping rack component, 12-transmission device, 13-telescoping device I, 21-rotary base, 22-rotary device, 23-telescoping device II, 24-lifting device, 110-rack cover, 111-rack mounting seat, 112-clamping rack, 113-transmission device cover, 121-vertical motor, 122-driving dial, 123-driven sheave, 124-transmission gear I, 125-transmission gear II, 126-transmission crank, 127-transmission connecting rod, 131-clamping plate, 132-clamping plate connecting rod, 133-buffer rod, 134-spring, 135-spring seat, 136-length adjusting rod, 137-clamping block, 138-spring pin, 139-adjusting rod hole, 140-push rod, 141-linear guide rail, 221-rotary support, 222-rack mounting plate, 223-rotary arm body, 224-rack, 231-telescopic motor, 232-telescopic device body, 233-telescopic motor gear, 241-slide block guide rail, 242-slide block, 243-slide block connecting rod, 244-parallel rod I, 245-parallel rod II, 246-vertical rod, 247-clamping device mounting seat, 248-support rod, 249-support rod seat, 250-lifting rocker, 251-lifting crank, 252-speed change device and 253-lifting motor.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, an automatic gripping and transferring device for multi-size flexible green tires comprises: the device comprises a clamping device 1 and a transfer device 2; the side surface of the clamping device 1 is provided with three clamping plates, the three clamping plates automatically extend out and act on the inner side of the tire blank at the same time, and the tire blank is clamped through the expansion and contraction of the clamping plates; transfer device 2 has three degrees of freedom, clamping device 1 is installed on transfer device 2's the landing gear 24, behind clamping device 1 held the child embryo, transfer device 2 drives thereby clamping device 1 carries out the snatching work of position removal realization child embryo in the cubical space.

The clamping device 1 comprises: the clamping rack assembly 11, the transmission device 12 and the telescopic device I13; the transmission device 12 is installed at the center position inside the clamping rack assembly 11, three groups of telescopic devices I13 are provided, each group has the same structure, and the telescopic devices I13 are installed at the edge position inside the clamping rack assembly 11 and are hinged with the transmission device 12 in a uniformly distributed manner; the clamping frame assembly 11 includes: a frame cover 110, a frame mounting seat 111, a clamping frame 112 and a transmission device cover 113; the frame cover 110 is mounted on the clamping frame 112 through bolts, the frame mounting seat 111 is mounted on the clamping frame 112, and the transmission device cover 113 is mounted in the clamping frame 112 through bolts; the transmission 12 includes: the device comprises an upright motor 121, a driving dial 122, a driven grooved pulley 123, a transmission gear I124, a transmission gear II125, a transmission crank 126, a transmission connecting rod 127, a driving dial stepped shaft, a driven grooved pulley stepped shaft and a transmission gear stepped shaft; the vertical motor 121 is mounted on the bottom surface of the clamping frame 112, the driving dial stepped shaft is fixed to the clamping frame 112 and the transmission device cover 113 through a pair of angular contact ball bearings, the driving dial 122 is mounted on the driving dial stepped shaft, the lower end of the driving dial stepped shaft is connected with the output shaft of the vertical motor 121 through a coupling, the driven sheave 123 is matched with the driving dial 122, the driven sheave 123 is mounted on the driven sheave stepped shaft, the driven sheave stepped shaft is mounted in a stepped hole in the clamping frame 112 through a self-aligning bearing, the transmission gear I124 is mounted on the driven sheave stepped shaft, the transmission gear II125 is engaged with the transmission gear I124, the transmission gear II125 and the transmission crank 126 are mounted on the transmission gear stepped shaft, and the transmission gear stepped shaft is mounted in a stepped hole in the clamping frame 112 through a self-aligning bearing, one end of the transmission crank 126 is hinged with the transmission connecting rod 127, the other end of the transmission connecting rod 127 is hinged with the push rod 140 of the expansion device I13 to form a crank slider mechanism, three sets of the driven grooved pulley 123, the transmission gear I124, the transmission gear II125, the transmission crank 126 and the transmission connecting rod 127 are provided, each set of the structure is the same, the three sets of the structure are uniformly distributed at 120 degrees around the axis of the clamping rack 112 of the clamping rack component 11, the driving dial 122 and the driven grooved pulley 123 form a grooved pulley mechanism with a motion coefficient of 3/4, when the driving dial 122 rotates 1/3 circles, the driven grooved pulley 123 rotates 1/4 circles, then the transmission gear I124 rotates 1/4 circles through a gear speed change mechanism formed by the transmission gear I124 and the transmission gear II125 and is changed into 1/2 circles of the transmission gear II125, so that the motion mode of the transmission crank 126 is 180-degree intermittent rotation motion around the transmission gear stepped shaft, the intermittent linear reciprocating motion of the push rod 140 which drives the transmission connecting rod 127 to move so as to drive the telescopic device I13 is realized; the telescopic device I13 has three sets, the structure of which is the same and is installed on the clamping frame 112 and is evenly distributed at 120 degrees, each set of the telescopic device I13 comprises: a clamping plate 131, a clamping plate connecting rod 132, a buffer rod 133, a spring 134, a spring seat 135, a length adjusting rod 136, a clamping block 137, a spring pin 138, an adjusting rod hole 139, a push rod 140 and a linear guide rail 141; the number of the clamping blocks 137 is two, the side surface of the rear end of the length adjusting rod 136 is provided with 8 adjusting rod holes 139 which are axially arranged, the length adjusting rod 136 is clamped by the two clamping blocks 137, the two clamping blocks 137 are installed on the linear guide rail 141 through bolt connection, two sets of the linear guide rail 141 are provided, the two sets of the linear guide rails are installed on the clamping rack 112 of the clamping rack component 11 in parallel, the spring pin 138 is welded on the inner wall of the push rod 140, the spring pin 138 is connected with the push rod 140 and the length adjusting rod 136, the spring 134 is installed in the large-diameter part of the buffer rod 133, so that the clamping plate 131 flexibly abuts against the inner ring of a green tire, the spring seat 135 is installed at one end with the large diameter of the buffer rod 133, the buffer rod 133 is installed at the front end of the length adjusting rod 136, and the large-diameter part of the clamping plate connecting rod 132 is matched with the large-diameter, the small diameter portion is matched with the small diameter portion of the stepped hole of the buffer rod 133, the outer contour of the small diameter end of the clamping plate connecting rod 132 is provided with a thread, and the clamping plate 131 is connected with the small diameter portion of the clamping plate connecting rod 132 through a threaded connection.

The transfer device 2 includes: a rotary base 21, a rotating device 22, a telescopic device II23 and a landing gear 24; the rotating device 22 is installed on the revolving base 21 through a bolt connection, the telescopic device II23 is installed on the rotating device 22 through a sliding fit, and the lifting device 24 is installed at the front end of the telescopic device II 23; the rotating device 22 includes: a rotary support 221, a rack mounting plate 222, a rotary arm main body 223, and a rack 224; the rack mounting plate 222 is connected to the upper side edge of the rotating arm main body 223 by welding, the rack 224 is mounted on the rack mounting plate 222 by bolt connection, the rotating arm main body 223 is flange-connected with the top of the rotating support 221 by bolts, and the through hole at the bottom of the rotating arm main body 223 is coaxial with the through hole in the middle of the rotating support 221; the telescoping device II23 comprises: a telescopic motor 231, a telescopic device main body 232 and a telescopic motor gear 233; the bottom of the telescopic device main body 232 is provided with a slide block which is connected with a linear guide rail on a rotating arm main body 223 of the rotating device 22, the telescopic motor 231 is connected and arranged on the top surface of the rear end of the telescopic device main body 232 through a bolt, the telescopic motor gear 233 is connected and arranged on the telescopic motor 231 through a key, and the telescopic motor gear 233 is meshed with the rack 224 of the rotating device 22; the landing gear 24 includes: a slide block guide rail 241, a slide block 242, a slide block connecting rod 243, a parallel rod I244, a parallel rod II245, a vertical rod 246, a clamping device mounting seat 247, a supporting rod 248, a supporting rod seat 249, a lifting rocker 250, a lifting crank 251, a speed changing device 252 and a lifting motor 253; the slider guide 241 is installed on the side surface of the front end of the retractor main body 232 of the retractor II23 through bolt connection, the slider 242 is installed in the slider guide 241, the slider link 243 is matched with and welded to the circular shaft of the slider 242, the other end is vertical upwards, the parallel rod I244 has the same length as the parallel rod II245, one end of the parallel rod I244 is hinged to the upper end of the slider link 243, the other end is hinged to the upper end of the vertical rod 246, the parallel rod II245 is parallel to the parallel rod I244, one end is hinged to the circular shaft of the slider 242 through the middle hole of the vertical rod 246, the other end is hinged to the support rod seat 249, the support rod seat 249 is installed in front of the "L" of the front end of the retractor main body 232 of the retractor II23, the clamping device 1 is mounted on the clamping device mounting seat 247 through a threaded connection, the clamping device mounting seat 247 is mounted on the vertical rod 246 through a threaded connection, the lifting rocker 250 is hinged to the support rod 248 at one end and hinged to the lifting crank 251 at the other end, the lifting crank 251 is connected to an output shaft of the speed change device 252 and fixed by a nut, the lifting motor 253 is mounted on the telescopic device body 232 of the telescopic device II23, the bevel gear I of the speed change device 252 is mounted on an output shaft of the lifting motor 253 through a key connection, the bevel gear II of the speed change device 252 is mounted on an output shaft of the speed change device 252, and the bevel gear I is meshed with the gear II and has an axis of 90 degrees.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, an automatic gripping and transferring device for multi-size flexible green tires works as follows: when the multi-size flexible tire embryo automatic grabbing and transferring device works, the rotary base 21 acts, the telescopic device II23 extends forwards under the driving of the telescopic motor 231, the lifting motor 253 drives the lifting crank 251 to rotate to drive the lifting rocker 250 to swing, the vertical rod 246 moves downwards under the action of a parallel four-bar mechanism consisting of the slide block 242, the slide block connecting rod 243, the parallel rod I244, the parallel rod II245 and the vertical rod 246, the vertical motor 121 acts to convert the rotation into intermittent linear reciprocating motion under the action of the geneva mechanism and the linear guide rail 141 in the transmission device 12, the push rod 140 transmits power to the length adjusting rod 136 through the spring pin 138, the length adjusting rod 136 transmits the power to the buffer rod 133, the clamping plate connecting rod 132 has a buffer during power transmission under the action of the spring 134 to play a role of protecting the tire embryo, and the power is transmitted to the clamping plate 131 through the clamping plate connecting rod 132, the lifting device 24 is lifted under the action of the clamping plates at the upper edge and the lower edge of the clamping plate 131 to clamp the green tire, when the rotary base 21 and the telescopic device II23 are matched to finish the transportation process, the lifting device 24 falls, the vertical motor 121 continues to act, and the linear guide rail 141 returns intermittently to move the clamping plate 131 backwards so as to put down the green tire.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides an automatic transfer device that snatchs of flexible child embryo of many sizes which characterized in that: the method comprises the following steps: the device comprises a clamping device (1) and a transferring device (2); the clamping device (1) is of a disc-shaped structure, three clamping plates are arranged on the side surface of the clamping device, the three clamping plates automatically extend out and act on the inner side of the tire blank at the same time, and the tire blank is clamped through the expansion and contraction of the clamping plates; the transfer device (2) has three degrees of freedom, the clamping device (1) is mounted on a lifting device (24) of the transfer device (2), and after the green tire is clamped by the clamping device (1), the transfer device (2) drives the clamping device (1) to move in a three-dimensional space so as to realize the grabbing work of the green tire; the clamping device (1) comprises: the clamping machine comprises a clamping rack assembly (11), a transmission device (12) and a telescopic device I (13); the transmission device (12) is arranged at the center position in the clamping rack assembly (11), three groups of telescopic devices I (13) are provided, each group has the same structure, and the telescopic devices I (13) are arranged at the edge position in the clamping rack assembly (11) and are hinged with the transmission device (12) in uniform distribution; the clamping frame assembly (11) comprises: a frame cover (110), a frame mounting seat (111), a clamping frame (112) and a transmission device cover (113); the clamping rack (112) is of a disc-shaped structure, a stepped hole for mounting a bearing is formed in the center of the lower bottom surface, three groups of stepped holes for mounting the bearing are uniformly distributed around the central axis, each group is provided with two stepped holes, three through holes are formed in the side wall of the clamping rack (112), and six threaded holes are formed in the upper surface of the side wall; the rack cover (110) is of a circular thin plate structure, six through holes are uniformly distributed on the edge of the rack cover, and the rack cover (110) is installed on the clamping rack (112) through bolts; the rack mounting seat (111) is of a hollow cylindrical structure, three square notches are formed in the side wall of the rack mounting seat and used for radiating heat of an internal vertical motor (121), a mounting support is welded at the bottom of the rack mounting seat (111), six threaded holes are formed in the top of the rack mounting seat, and the rack mounting seat (111) is mounted on the clamping rack (112) through the six threaded holes in the top of the rack mounting seat; the transmission device cover (113) is of a hollow cylindrical structure with one closed end, the center of the bottom surface of the transmission device cover is provided with a stepped hole for mounting a bearing, the edge of the bottom surface of the transmission device cover is provided with three square notches, the transmission device cover (113) is mounted in the clamping rack (112) through bolts, and a pair of angular contact ball bearings are mounted in the stepped holes between the clamping rack (112) and the transmission device cover (113); the transmission (12) comprises: the device comprises an upright motor (121), a driving dial (122), a driven grooved pulley (123), a transmission gear I (124), a transmission gear II (125), a transmission crank (126), a transmission connecting rod (127), a driving dial stepped shaft, a driven grooved pulley stepped shaft and a transmission gear stepped shaft; the front end of the vertical motor (121) is provided with a flange plate, the flange plate is mounted on the bottom surface of a clamping rack (112) of the clamping rack component (11), the driving drive plate stepped shaft is fixed on the clamping rack (112) and a transmission device cover (113) of the clamping rack component (11) through a pair of angular contact ball bearings, three round pins are processed on the driving drive plate (122), the driving drive plate (122) is circumferentially positioned through key connection and is axially positioned through a shaft shoulder to realize fixed mounting on the driving drive plate stepped shaft, and the top surface of the driving drive plate (122) is axially fixed through a round nut and a stop washer; the lower end of the driving drive plate stepped shaft is connected with an output shaft of the vertical motor (121) through a coupler; the driven sheave (123) is provided with four grooves, the driven sheave (123) is matched with the driving dial plate (122), the driven sheave (123) is mounted on the driven sheave stepped shaft through key connection to achieve circumferential positioning, the driven sheave (123) and the lower end of the driven sheave stepped shaft are axially positioned through a shaft shoulder, and the upper end of the driven sheave stepped shaft is axially fixed through a round nut and a stop washer; the driven sheave stepped shaft is mounted in a stepped hole in a clamping rack (112) of the clamping rack assembly (11) through a self-aligning bearing and is fixed through a bearing end cover, the transmission gear I (124) is mounted on the driven sheave stepped shaft through key connection, the lower end of the transmission gear I is axially positioned through a shaft shoulder, and the upper end of the transmission gear I and the driven sheave (123) are fixed through a sleeve; the transmission gear II (125) is meshed with the transmission gear I (124), the transmission gear II (125) and the transmission crank (126) are mounted on the transmission gear stepped shaft through key connection, the lower end of the transmission gear II (125) is axially positioned through a shaft shoulder, the upper end of the transmission gear II (125) is fixed with the transmission crank (126) through a sleeve, and the transmission crank (126) is axially fixed through a round nut and a stop washer; the transmission gear stepped shaft is installed in a stepped hole in a clamping rack (112) of the clamping rack assembly (11) through a self-aligning bearing and is fixed through a bearing end cover; one end of the transmission crank (126) is hinged with the transmission connecting rod (127), and the other end of the transmission connecting rod (127) is hinged with a push rod (140) of the telescopic device I (13) to form a crank-slider mechanism; the driven grooved pulley (123), the transmission gear I (124), the transmission gear II (125), the transmission crank (126) and the transmission connecting rod (127) are all three in number, each set of structure is the same, and the three sets of structures are uniformly distributed in 120 degrees around the axis of the clamping rack (112) of the clamping rack assembly (11); the driving dial (122) and the driven grooved wheel (123) form a grooved wheel mechanism with a motion coefficient of 3/4, when the driving dial (122) rotates for 1/3 circles, the driven grooved wheel (123) rotates for 1/4 circles, then the transmission gear I (124) rotates for 1/4 circles through a gear speed change mechanism formed by the transmission gear I (124) and the transmission gear II (125) and changes the transmission gear I (124) into 1/2 circles of the transmission gear II (125), the motion mode of the transmission crank (126) is 180-degree intermittent rotary motion around a transmission gear stepped shaft, and the transmission connecting rod (127) is driven to move so as to drive the push rod (140) of the telescopic device I (13) to do intermittent linear reciprocating motion.

2. The automatic multi-size flexible green tyre gripping and transferring device as claimed in claim 1, wherein: three sets of telescoping devices I (13) are provided, the three sets of telescoping devices I (13) are mounted on the clamping rack (112) in the same structure and are uniformly distributed at 120 degrees, and each set of telescoping device I (13) comprises: the device comprises a clamping plate (131), a clamping plate connecting rod (132), a buffer rod (133), a spring (134), a spring seat (135), a length adjusting rod (136), a clamping block (137), a spring pin (138), an adjusting rod hole (139), a push rod (140) and a linear guide rail (141); the clamping blocks (137) are two blocks and have the same structure, the clamping blocks (137) are cuboids with one side surface being an inner arc surface, the top surface of each clamping block is provided with two through holes for fixing, the length adjusting rod (136) is of a hollow cylinder structure, the inner diameter of the front end of each clamping block is provided with an internal thread, the side surface of the rear end of each clamping block is provided with 8 adjusting rod holes (139) which are axially arranged, the length adjusting rod (136) is clamped by the two clamping blocks (137), the two clamping blocks (137) are connected and installed on the linear guide rail (141) through bolts, the linear guide rail (141) is provided with two sets, and the two sets are installed on the clamping rack (112) of the clamping rack assembly (11) in; the push rod (140) is a cylinder with a hollow front end and a solid rear end, a hinged support is arranged at the rear end, a through hole is formed in the side wall of the front end, the spring pin (138) is welded on the inner wall of the push rod (140) with the same through hole, the spring pin (138) is connected with the push rod (140) and the length adjusting rod (136), and the total length of the telescopic device I (13) is adjusted by changing the matching of the spring pin (138) and 8 adjusting rod holes (139) at different positions; the buffer rod (133) is of a cylindrical structure, a stepped hole is formed in the middle of the buffer rod, the clamping plate connecting rod (132) is limited, internal threads and external threads are formed in one end with a large aperture, the spring (134) is installed in the part with the large aperture of the buffer rod (133), the clamping plate (131) is in flexible jacking contact with the inner ring of a green tire, threads are arranged on the outer contour of the spring seat (135), the spring seat is installed at one end with the large aperture of the buffer rod (133) through threaded connection, the buffer rod (133) is installed at the front end of the length adjusting rod (136) through threaded connection of one end with the large aperture, the clamping plate connecting rod (132) is of two cylindrical structures with different diameters, the large aperture is matched with the large aperture of the stepped hole of the buffer rod (133), and the small aperture is matched with the small aperture of the stepped hole of the buffer rod (133), the outer contour of one small-diameter end of the clamping plate connecting rod (132) is provided with a thread, the clamping plate (131) is of an arc-shaped plate structure, the upper end and the lower end of the clamping plate connecting rod are respectively provided with a bent plate which is bent outwards so as to be convenient for clamping the inner side of a green tire, the middle of the clamping plate connecting rod is provided with a threaded hole, the clamping plate connecting rod is connected with the small-diameter part of the clamping plate connecting rod (132) through the thread connection, the inner sides of green tires with different sizes have small variation range of the inner diameters, the inner sides of the green tires are grabbed so as to; the telescopic device I (13) manually adjusts the position of the spring pin (138) in the adjusting rod hole (139) according to the inner diameters of the embryos with different sizes to change the total length of the telescopic device I (13) so as to achieve the purpose of clamping the embryos with different inner diameters, and the damage of the clamping plate (131) to the embryos is reduced through the buffering action of the spring (134).

3. The automatic multi-size flexible green tyre gripping and transferring device as claimed in claim 1, wherein: the transfer device (2) comprises: a rotary base (21), a rotating device (22), a telescopic device II (23) and a lifting device (24); the swivel base (21) comprises: the device comprises a servo motor, a worm wheel, a worm, a rolling bearing, a base and a box body; the worm wheel is of a gear ring type structure, the wheel rim is made of cast tin bronze materials, a raceway groove is machined in the inner wall of the worm wheel and connected with the rolling bearing to serve as an outer ring of the rolling bearing, and a circle of uniformly distributed threaded holes are machined in the end face of the inner ring of the rolling bearing and used for being fixedly connected with a rotating support (221) of the rotating device (22); the worm is meshed with the worm wheel, the servo motor is connected with the worm through a coupler, the base is connected with a ground foundation through foundation bolts, the box body covers the servo motor, the worm wheel, the worm and the rolling bearing to prevent external impurities from invading, and the box body is fixed on the base; the servo motor drives the worm to rotate, the worm drives the worm wheel to rotate, and the worm wheel is connected with the base through a rolling body of the rolling bearing so that the worm wheel rotates relative to the base; rotary device (22) are installed through bolted connection on rotary base (21), realize rotary device (22)'s rotation, and the lead angle of worm is less than the equivalent friction angle between the meshing tooth face, makes rotatory in-process realize the auto-lock, telescoping device II (23) are installed through sliding fit on rotary device (22), landing gear (24) are installed telescoping device II (23) front end.

4. The automatic multi-size flexible green tire grabbing and transferring device as claimed in claim 3, wherein: the rotating device (22) comprises: the rotary support (221), the rack mounting plate (222), the rotary arm main body (223) and the rack (224); the rotary support (221) is of a cylindrical hollow structure, the top and the bottom of the rotary support are provided with connecting flanges, and the flanges are provided with six through holes which are uniformly distributed and used for installation; the rotating arm main body (223) is of a cuboid structure with a convex groove in the middle, a linear guide rail is arranged at the bottom of the convex groove, a rectangular groove channel for wiring is further formed at the bottom of the convex groove, and a through hole for wiring is formed at the bottom of the rectangular groove channel; the rack mounting plate (222) is a rectangular plate with seven through holes, the rack mounting plate (222) is connected to the upper side edge of the rotating arm main body (223) in a welding mode, the rack (224) is mounted on the rack mounting plate (222) through bolt connection, the rotating arm main body (223) is connected with a top flange of the rotating support (221) through bolts, and the through hole in the bottom of the rotating arm main body (223) is coaxial with the through hole in the middle of the rotating support (221).

5. The automatic multi-size flexible green tire grabbing and transferring device as claimed in claim 3, wherein: the telescopic device II (23) comprises: a telescopic motor (231), a telescopic device main body (232) and a telescopic motor gear (233); the telescopic device is characterized in that the telescopic device main body (232) is of a rectangular cuboid structure with a convex front end at the rear end, a slider is mounted at the bottom of the rectangular cuboid structure, and is connected with a linear guide rail on a rotating arm main body (223) of the rotating device (22), an L-shaped hole is formed in the front end of the telescopic device main body (232) and used for mounting and placing the landing gear (24), the telescopic motor (231) is mounted on the top surface of the rear end of the telescopic device main body (232) through bolt connection, the telescopic motor gear (233) is mounted on the telescopic motor (231) through key connection, and the telescopic motor gear (233) is meshed with a rack (224) of the rotating device (22).

6. The automatic multi-size flexible green tire grabbing and transferring device as claimed in claim 3, wherein: the landing gear (24) comprising: the device comprises a slide block guide rail (241), a slide block (242), a slide block connecting rod (243), a parallel rod I (244), a parallel rod II (245), a vertical rod (246), a clamping device mounting seat (247), a supporting rod (248), a supporting rod seat (249), a lifting rocker (250), a lifting crank (251), a speed changing device (252) and a lifting motor (253); the slider guide rail (241) is a cuboid structure with a square groove in the middle, the inner side is smooth, a rectangular notch is formed in the side face, through holes for installation are formed in two ends of the slider guide rail (241), the slider guide rail (241) is installed on the front end of a telescopic device main body (232) of a telescopic device II (23) through bolt connection, the side face with an L-shaped hole is formed in the front end of the slider (242), the slider (242) is of a cuboid structure, a round shaft is welded on the side face, through holes are formed in two ends of a slider connecting rod (243), one end of the slider connecting rod is matched with and welded and fixed to the round shaft of the slider (242), the other end of the slider connecting rod vertically faces upwards, the parallel rod I (244) is as long as the parallel rod II (245), the through holes for installation of the supporting rod (248) are formed in the middle of the parallel rod II (245), and the through holes for installation of the parallel rod I (, the lower end of the supporting rod (248) is provided with two through holes for installing the clamping device installing seats (247), the middle of the supporting rod (248) is provided with a through hole for installing a lifting rocker (250), one end of the parallel rod I (244) is hinged with the upper end of the sliding block connecting rod (243), the other end of the parallel rod I (244) is hinged with the upper end of the vertical rod (246), the parallel rod II (245) is parallel to the parallel rod I (244), one end of the parallel rod I (246) is hinged with the other end of the vertical rod (246) through the middle hole of the vertical rod and the hinged end of the vertical rod and the round shaft of the sliding block (242), one end of the supporting rod (248) is hinged with the supporting rod seat (249) through the middle hole of the parallel rod II (245), the supporting rod seat (249) is a square plate, the upper surface of the supporting rod seat (249) is provided with four installing through holes, the middle of the upper surface of the supporting rod seat is welded with an installing support bracket provided with the through hole, the clamping device mounting seat (247) is of a disc-shaped structure, six through holes for mounting are uniformly distributed on the edge of the clamping device mounting seat (247), a square table with a square hole is welded on the square table, two through holes are formed in the side face of the square table, the clamping device (1) is mounted on the clamping device mounting seat (247) through threaded connection, the clamping device mounting seat (247) is mounted on the vertical rod (246) through threaded connection, one end of the lifting rocker (250) is hinged with the supporting rod (248), the other end of the lifting rocker (250) is hinged with the lifting crank (251), the lifting crank (251) is connected with an output shaft of the speed change device (252) and fixed by a nut, the lifting motor (253) is mounted on a telescopic device body (232) of the telescopic device II (23), and a bevel gear I of the speed change device (252) is mounted on an output shaft of the lifting motor (253) through key connection, a bevel gear II in the speed changing device (252) is mounted on an output shaft of the speed changing device (252), and the bevel gear I is meshed with the gear II, and the axis of the bevel gear I is 90 degrees; the lifting crank (251) is the shortest rod, the lifting rocker (250) and the lifting crank (251) form a crank rocker mechanism, the sliding block connecting rod (243), the parallel rod I (244), the parallel rod II (245) and the vertical rod (246) form a parallel four-bar mechanism, and the sliding block connecting rod (243) is rigidly connected with the sliding block (242), so that the vertical rod (246) does up-and-down reciprocating motion, and the grabbing action of a green tire is realized.

7. The automatic multi-size flexible green tyre gripping and transferring device as claimed in claim 1, wherein: when the multi-size flexible green tire automatic grabbing and transferring device works, the rotary base (21) acts, the telescopic device II (23) extends forwards under the driving of the telescopic motor (231), the lifting motor (253) drives the lifting crank (251) to rotate to drive the lifting rocker (250) to swing, the vertical rod (246) moves downwards under the action of a parallel four-bar mechanism consisting of the slide block (242), the slide block connecting rod (243), the parallel rod I (244), the parallel rod II (245) and the vertical rod (246), the vertical motor (121) acts to convert the rotation into intermittent linear reciprocating motion under the action of a geneva mechanism and a linear guide rail (141) in the transmission device (12), the push rod (140) transmits power to the length adjusting rod (136) through the spring pin (138), the length adjusting rod (136) transmits power to the buffer rod (133), and the clamping plate connecting rod (132) has buffer when transmitting power under the action of the spring (134), the green tire protecting device has the advantages that the green tire protecting function is achieved, power is transmitted to the clamping plate (131) through the clamping plate connecting rod (132), the lifting device (24) rises under the action of the clamping plates on the upper edge and the lower edge of the clamping plate (131) to clamp the green tire, after the rotary base (21) and the telescopic device II (23) are matched to finish the transportation process, the lifting device (24) falls, the vertical motor (121) continues to act, and the linear guide rail (141) intermittently returns to enable the clamping plate (131) to move backwards so that the green tire is put down.