CN211250074U

CN211250074U - Interior expanding grabbing device

Info

Publication number: CN211250074U
Application number: CN201922303238.2U
Authority: CN
Inventors: 于今; 杨昌林; 孙航; 林斌
Original assignee: CHONGQING LANGZHENG TECHNOLOGY CO LTD
Current assignee: CHONGQING LANGZHENG TECHNOLOGY CO LTD
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-08-14
Anticipated expiration: 2029-12-19

Abstract

The utility model discloses an internal expansion type gripping device, which comprises a driving device fixed on a supporting component and at least two groups of expansion and contraction components distributed circumferentially, wherein each expansion and contraction component comprises a first connecting rod, a second connecting rod, a vertical rod and a lifting hook; one end of the first connecting rod is hinged with the supporting component, and the other end of the first connecting rod is hinged with the upper ends of the vertical rods arranged in the vertical direction; the driving device drives the transmission shaft to move in the vertical direction, one end of the second connecting rod is hinged with the transmission shaft, and the other end of the second connecting rod is hinged on the vertical rod; the lower end of the vertical rod is hinged with the middle part of the lifting hook, and the inner end of the lifting hook is hinged on the transmission shaft. Adopt the utility model discloses a can improve and treat the transfer efficiency who shifts article.

Description

Interior expanding grabbing device

Technical Field

The utility model relates to a grabbing device, especially an interior expanding grabbing device.

Background

At present, along with the development of mechanical tools, along with the needs of production, the manipulator is applied to some machines or equipment to replace work such as artifical thing or putting thing, can make whole production line more regular nature, stability, persistence, in order to guarantee the production operating condition that is unchangeable for a long time, no matter be single joint manipulator, still articulated manipulator, they all have respective specific application place.

For an automobile tire manufacturing production line, the manipulator is adopted to carry the automobile tire, so that the production efficiency can be greatly improved. However, since the conventional transport robot is configured to grip the outer surface of the transport object, the operation end of the transport robot, which is in direct contact with the transport object, has a large size, a large space, and a low transport efficiency. In order to solve the problem, a technician installs an air bag on a manipulator and extends into the middle of a tire, and inflates and exhausts the air bag by using an air guide pipeline so as to realize the transfer of the tire, but the air bag receives a large downward force in the process of transferring the tire, and the air bag is easy to rub the inner surface of the tire in the process of placing and extracting the tire, so that the service life of the air bag is short, and the loss is large; and the placing in and out of the manipulator component involves the inflation and abandonment of the air bag, resulting in low working efficiency.

Disclosure of Invention

The utility model aims to provide a: to the problem that air bag formula tire transport manipulator work efficiency is low among the prior art, provide an interior expanding grabbing device that work efficiency is high.

In order to realize the purpose of the utility model, the utility model provides a following technical scheme:

an internal expansion type gripping device comprises a driving device fixed on a supporting component and at least two groups of expansion and contraction components distributed circumferentially, wherein each expansion and contraction component comprises a first connecting rod, a second connecting rod, a vertical rod and a lifting hook; one end of the first connecting rod is hinged with the supporting component, and the other end of the first connecting rod is hinged with the upper ends of the vertical rods arranged in the vertical direction; the driving device drives the transmission shaft to move in the vertical direction, one end of the second connecting rod is hinged with the transmission shaft, and the other end of the second connecting rod is hinged on the vertical rod; the lower end of the vertical rod is hinged with the middle part of the lifting hook, and the inner end of the lifting hook is hinged on the transmission shaft.

When the driving device drives the transmission shaft to retract, the transmission shaft drives the connecting end of the second connecting rod to move upwards, so that the other end of the second connecting rod pushes the vertical rod outwards in the radial direction, and the vertical rod drives the lifting hook to turn outwards around the hinge part at the inner end; the driving device continues to drive the transmission shaft to retract, when one vertical rod of the expansion and contraction assembly is contacted with the inner hole wall of the hung object, a plurality of vertical rods distributed on the circumference and the inner hole of the hung object form automatic alignment and centering until the axis of the transmission shaft is superposed with the center of the inner hole of the hung object, and the vertical rods of all the expansion and contraction assemblies are contacted with the inner hole wall of the inner hole of the hung object, the hung object is supported by the lifting hook from the middle concave part or the lower orifice end surface of the inner hole of the hung object, when the hung object is lifted, the vertical rods are further tensioned to tightly support the inner hole wall of the hung object through the lifting hook under the action of the gravity of the hung object, and when the hung object reaches enough weight, the driving device does not need to apply a vertical rod tensioning driving force in the lifting process, so that the stress of the driving device in the vertical direction is greatly reduced, the driving power consumption. When the tire lifting device is used for lifting tires, the inner surfaces of the tires and the inner expansion type gripping device are kept in a clamping state in the carrying process, the tires and the device are prevented from shaking relatively, the structural movement mode is simple, and the efficiency of carrying the tires is improved.

Furthermore, the lower end of the vertical rod is provided with a groove for the rotation of the lifting hook, a limiting pin is fixed at the lower end of the groove, and when the limiting pin abuts against the lifting hook, the upper surface of the lifting hook is horizontal. The limiting pin is used for limiting the limit position of the overturning of the lifting hook, when the hinged member between the lifting hook and the vertical rod is worn, the limiting pin can ensure that the lifting hook is overturned excessively, the hidden danger that a hung object cannot be hooked is eliminated, and meanwhile, the limiting pin can play a guarantee role in ensuring that the lifting hook does not fall off the vertical rod when the hinged member is broken accidentally, so that the object is lifted safely.

Further, one end of each adjacent hook, which is close to the transmission shaft, is connected through a spring. The springs are distributed in the circumferential direction, so that the circumferential position of the lifting hook is basically kept stable, the condition that the distribution is uneven or the lifting hook deviates from a preset position is avoided, and the stable lifting is ensured.

Further, the second connecting rod is H-shaped. The transmission shaft and the vertical rod are respectively clamped into two H-shaped ends of the second connecting rod to form a hinged structure, the stress of the hinged structure is uniform, and the stability of the second connecting rod when the vertical rod is pushed out is improved.

Furthermore, each vertical rod is hinged with three second connecting rods in the vertical direction. The second connecting rods are stressed in a dispersing mode, and the vertical rod is guaranteed to keep the vertical upward direction when moving.

Further, the expansion and contraction components are uniformly arranged in the horizontal circumferential direction and are three groups in number. Specifically, the number of the vertical bars may be adjusted according to the size of the workpiece to be transferred, but is preferably not less than three.

Further, the driving device is a cylinder.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that: utilize drive arrangement drive transmission shaft to carry out the motion from top to bottom, accomplish opening and retracting of whole interior expanding grabbing device, realize automatic centering, shift article internal surface and interior expanding grabbing device and keep the chucking at handling, avoid article and device to rock relatively, strengthen the stability of transfer in-process article and the speed of shifting, improve the transfer pile up neatly efficiency of article.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of the internal expanding gripping device of the present invention when it is opened.

Fig. 2 shows a schematic view of another angle of fig. 1.

Fig. 3 shows a bottom view of the inflatable gripping apparatus of fig. 1.

Fig. 4 shows a schematic structural diagram of the internal expanding gripping device of the present invention when it is folded.

Wherein the figures include the following reference numerals:

1 supporting the assembly; 2 a driving device; 3 a first link; 4, erecting a rod; 5, driving a shaft; 6 a second link; 7, a hook; 8, limiting pins; 9 spring.

Detailed Description

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As shown in fig. 1-4, an internal expansion type gripping device comprises a driving device 2 fixed on a supporting component 1, and further comprises at least two groups of expansion components distributed circumferentially, wherein each expansion component comprises a first connecting rod 3, a second connecting rod 6, a vertical rod 4 and a lifting hook 7; one end of the first connecting rod 3 is hinged with the supporting component 1, and the other end of the first connecting rod 3 is hinged with the upper ends of vertical rods 4 which are arranged along the vertical direction; the driving device 2 drives the transmission shaft 5 to move in the vertical direction, one end of the second connecting rod 6 is hinged with the transmission shaft 5, and the other end of the second connecting rod 6 is hinged on the vertical rod 4; the lower end of the vertical rod 4 is hinged with the middle part of the lifting hook 7, and the inner end of the lifting hook 7 is hinged on the transmission shaft 5.

Preferably, the confession is opened to 4 lower extremes of montant 7 pivoted recesses, the recess lower extreme is fixed with spacer pin 8, spacer pin 8 supports when lifting hook 7, the upper surface of lifting hook 7 is the level.

Preferably, the ends of the adjacent hooks 7 close to the transmission shaft 5 are connected through a spring 9.

Preferably, the second link 6 has an H-shape.

Preferably, each vertical rod 4 is hinged with three second connecting rods 6 along the vertical direction.

Preferably, the expansion and contraction components are uniformly arranged in the horizontal circumferential direction and are three groups in number.

Preferably, the driving device 2 is a cylinder.

Fig. 4 is a schematic structural diagram of the inward expansion type gripping device when it is folded, before starting working, the driving device 2 drives the transmission shaft 5 to move towards a direction away from the driving device 2, that is, the transmission shaft 5 moves downwards, and at the same time, the transmission shaft 5 drives the second connecting rod 6 to move downwards; the second connecting rod 6 drives the vertical rod 4 to contract inwards, and the vertical rod 4 drives the lifting hook 7 to rotate towards the direction close to the transmission shaft 5, so that the contraction motion of the internal expansion type gripping device is completed.

As shown in fig. 1-3, which are schematic structural diagrams of the inward expansion type gripping device when being expanded, the driving device 2 drives the transmission shaft 5 to move toward a direction close to the driving device 2, that is, the transmission shaft 5 moves upward, and simultaneously the transmission shaft 5 drives the second connecting rod 6 to move upward; the second connecting rod 6 drives the vertical rod 4 to expand outwards, and the vertical rod 4 drives the lifting hook 7 to rotate in a way of moving away from the transmission shaft 5; when the lifting hook 7 moves to be in contact with the limiting pin 8, the lifting hook 7 moves to a dead point, namely the lifting hook 7 cannot rotate downwards any more, and at the moment, the upper surface of the lifting hook 7 is horizontal, so that the expansion movement of the internal expansion type gripping device is completed. When the tire is extracted and transferred, the inner expanding type gripping device firstly extends into the middle of the tire in a contraction state, then when the inner expanding type gripping device is expanded to lift the tire, the lifting hook 7 clamps the limiting pin 8 to form a clamping mechanism, and at the moment, the vertical rod 4 does not abut against the inner surface of the tire; or the vertical rod 4 is tightly propped against the inner surface of the tire, the lifting hook 7 is not contacted with the limiting pin 8, and the limiting pin 8 plays a role in safety guarantee at the moment. In addition, in whole process, the supporting component 1 is passed to through the combined action of first connecting rod 3, second connecting rod 6 and montant 4 to the tire gravity of the vertical direction that lifting hook 7 will receive, reduces drive arrangement 2's axial atress for use drive arrangement 2 of general specification can satisfy this interior expanding grabbing device's demand, and the cost is lightened, has improved drive arrangement 2's life. The embodiment of grabbing is a tire, and in specific application, the device can also be used for grabbing other objects or objects with lifting round holes.

When the air cylinder is used as the driving device 2, after the tire is moved to a specified position, the air cylinder pushes out the transmission shaft 5 through the piston rod, and the spring 9 also provides power for retracting the lifting hook 7.

The scope of the present invention is defined not by the above-described embodiments but by the appended claims and equivalents thereof.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An internal expansion type gripping device comprises a driving device (2) fixed on a supporting component (1), and is characterized by further comprising at least two groups of expansion components distributed circumferentially, wherein each expansion component comprises a first connecting rod (3), a second connecting rod (6), a vertical rod (4) and a lifting hook (7); one end of the first connecting rod (3) is hinged with the supporting component (1), and the other end of the first connecting rod (3) is hinged with the upper ends of vertical rods (4) arranged in the vertical direction; the driving device (2) drives the transmission shaft (5) to move in the vertical direction, one end of the second connecting rod (6) is hinged with the transmission shaft (5), and the other end of the second connecting rod (6) is hinged on the vertical rod (4); the lower end of the vertical rod (4) is hinged to the middle of the lifting hook (7), and the inner end of the lifting hook (7) is hinged to the transmission shaft (5).

2. The internal expanding gripping device as claimed in claim 1, wherein the lower end of the vertical rod (4) is provided with a groove for the rotation of the lifting hook (7), the lower end of the groove is fixed with a limit pin (8), and when the limit pin (8) props against the lifting hook (7), the upper surface of the lifting hook (7) is horizontal.

3. An internally expanding gripping device according to claim 1, characterised in that the ends of adjacent hooks (7) adjacent to the drive shaft (5) are connected by a spring (9).

4. An internally expanding gripping device according to claim 1, characterised in that the second link (6) is H-shaped.

5. An internally expanding gripping device according to claim 1, characterised in that each vertical rod (4) is articulated in a vertical direction with three second connecting rods (6).

6. The expanding gripper of claim 1, wherein the expansion and contraction members are arranged in three groups and are uniformly spaced in the horizontal circumferential direction.

7. An internally expanding gripping device according to claim 1, characterised in that the driving means (2) is a pneumatic cylinder.