CN211388779U

CN211388779U - Tire carrying manipulator

Info

Publication number: CN211388779U
Application number: CN201922296158.9U
Authority: CN
Inventors: 于今; 晏超; 杨昌林; 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: 2020-09-01
Anticipated expiration: 2029-12-19

Abstract

The utility model discloses a tire carrying manipulator, which comprises a truss manipulator structure consisting of a truss and a gripping device, wherein the gripping device comprises a driving device and at least two groups of expansion and contraction components distributed circumferentially, and each expansion and contraction component comprises an expansion and contraction main body and a turnable lifting hook positioned at the lower end of the expansion and contraction main body; the expansion and contraction main body can be opened and closed under the driving of the driving device; when the expansion and contraction main body is opened, the expansion and contraction main body can tightly abut against the inner wall of the tire hole, and the lifting hook is opened to be in a reverse hook shape; when the expansion and contraction main body retracts, the lifting hook is in a retraction state, and the maximum outer diameter of the expansion and contraction assembly is smaller than the inner diameter of the tire. Adopt the utility model discloses can improve the transfer handling efficiency of tire.

Description

Tire carrying manipulator

Technical Field

The utility model relates to a manipulator, especially a tire transport manipulator.

Background

The rectangular coordinate robot is one of industrial robots, and can be widely applied to the industrial fields of carrying, stacking, sorting, packaging, welding, metal processing, assembling and the like. The method has obvious effects on replacing manual operation, reducing labor cost, improving production efficiency, stabilizing product quality and the like.

The existing cartesian robot mostly adopts double X-axes, and two ends of the whole Y-axis (namely a transverse axis) are respectively fixed on slide carriages of two X-axes (namely a longitudinal axis) to realize the movement in the X direction. However, for a manipulator for transporting automobile tires, a gripping device used for transferring tires and stacking the tires acts on the outer surfaces of the tires in a clamping manner, so that the size of an operation end in direct contact between the gripping device and the tires is large, the occupied space is large, in order to accurately grip the tires, the gripping device needs to accurately position the tires through an external means, and the problems of long positioning time and low transporting efficiency exist.

Disclosure of Invention

The utility model aims to provide a: to the problem of among the prior art tire transport manipulator inefficiency, provide a tire transport manipulator that transport efficiency is high.

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

a tire carrying manipulator is characterized in that a truss manipulator structure is formed by a truss and a gripping device, the gripping device comprises a driving device and at least two groups of expansion and contraction assemblies distributed circumferentially, and each expansion and contraction assembly comprises an expansion and contraction main body and a turnable lifting hook positioned at the lower end of the expansion and contraction main body; the expansion and contraction main body can be opened and closed under the driving of the driving device; when the expansion and contraction main body is opened, the expansion and contraction main body can tightly abut against the inner wall of the tire hole, and the lifting hook is opened to be in a reverse hook shape; when the expansion and contraction main body retracts, the lifting hook is in a retraction state, and the maximum outer diameter of the expansion and contraction assembly is smaller than the inner diameter of the tire.

Adopt above-mentioned scheme, the breathing main part of breathing subassembly opens or the withdrawal down along circumference under drive arrangement's drive, can support tight tire hole inner wall when the breathing subassembly opens, thereby form automatic centering with the tire hole, need not to carry out accurate location through other ways or means, shorten positioning time, and catch on the tire inward flange through anti-hooked lifting hook, make and mention the in-process with the tire transport, the tire can not rock on grabbing device, the stability of tire during the reinforcing transport, grabbing device's moving speed in the handling can be improved, the reinforcing handling efficiency.

Further, the gripping device also comprises a supporting component; the driving device is fixed on the supporting component; the expansion and contraction assembly comprises a first connecting rod, a second connecting rod and a vertical rod forming an expansion and contraction main body; 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 of the grabbing 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 component is contacted with the inner hole wall of the tire, a plurality of vertical rods distributed on the circumference and the inner hole of the tire form automatic alignment and centering until the axis of the transmission shaft is coincided with the center of the inner hole of the hung object, and the vertical rods of all the expansion and contraction components are contacted with the inner hole wall of the tire, the lifting hook supports the tire from the middle concave part of the inner hole of the tire, when the tire is lifted, the vertical rods are further outwards tensioned to tightly support the inner hole wall of the inner hole of the tire through the lifting hook under the action of gravity of the tire, and in the lifting process, the driving device does not need to apply externally-tensioned driving force of the vertical rods, so that the stress of the driving device in the vertical direction is greatly reduced, the driving power. In the whole tire hoisting process, the inner surface of the tire and the gripping device are kept in a clamping state in the carrying process, the relative shaking of the tire and the device is avoided, the structural movement mode is simple, and the efficiency of carrying the tire 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 article 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 lifting safety of a tire is ensured.

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 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.

Furthermore, the truss comprises two first supporting plates which are arranged in parallel, and the first supporting plates are supported and fixed through a support fixed on the floor; a first guide rail extending along the length direction of the first supporting plate is fixed on the first supporting plate, and a first sliding table capable of sliding on the first guide rail is arranged on the first guide rail; a second support plate is arranged in the direction perpendicular to the first support plate, two ends of the second support plate are fixed on the first sliding table, a second guide rail extending in the length direction of the second support plate is fixed on the second support plate, and a second sliding table capable of sliding on the second guide rail is arranged on the second guide rail; a third support plate is fixed on the second sliding table, a third guide rail arranged in the vertical direction is fixed on the third support plate, and a third sliding table capable of sliding on the third guide rail is arranged on the third guide rail; the grabbing device is fixed on the third sliding table. Under the drive of the corresponding driving structure, the second supporting plate can move on the first supporting plate along the arrangement direction of the first guide rails, the third supporting plate can move on the second supporting plate along the arrangement direction of the second guide rails, and the gripping device can move on the third supporting plate along the arrangement direction of the third guide rails, so that the movement of the gripping device in three directions of XYZ in the space is realized; and the transport region and the stacking region are both arranged in the middle of the double first supporting plates, and the regions are the movement regions of the gripping devices, so that the tires can be conveniently transferred and transported.

Furthermore, two ends of any one first supporting plate are provided with a first limiting block and a second limiting block, and the first limiting block and the second limiting block can abut against the first sliding table or the second supporting plate. The stopper limits the displacement distance of second backup pad on first backup pad, prevents the first backup pad of second backup pad roll-off, guarantees the safe in utilization of manipulator.

Furthermore, an original point correcting block is fixed on any one first supporting plate and located between the first limiting block and the second limiting block. The origin correction block is used to correct the origin, and when the manipulator completes one operation, the manipulator returns to the origin position to wait.

Furthermore, the first guide rail, the second guide rail and the third guide rail are all provided with steel rail rack assemblies.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that: the manipulator is provided with a gripping device, a driving device in the gripping device drives a transmission shaft to move up and down, the whole gripping device is opened and retracted, automatic centering is achieved, the inner surface of the tire and the gripping device are clamped in the carrying process, relative shaking of the tire and the device is avoided, the stability and the transferring speed of the tire in the transferring process are enhanced, and the transferring stacking efficiency of the tire is improved.

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 plan view of the tire carrying robot of the present invention.

Fig. 2 shows an enlarged view of the structure at a in fig. 1.

Fig. 3 shows a front view of the tire handling robot of fig. 1.

Fig. 4 shows a schematic view of the gripping device of fig. 1 in an expanded configuration.

Fig. 5 shows a schematic view of another angle of the grasping device of fig. 4 when it is expanded.

Fig. 6 shows a schematic view of the gripping device of fig. 1 in a collapsed configuration.

Wherein the figures include the following reference numerals:

1. a truss; 11. a first support plate; 111. a first stopper; 112. a second limiting block; 113. an origin correction block; 12. a second support plate;

2. a gripping device; 21. a support assembly; 22. a drive device; 23. a first link; 24. a vertical rod; 25. a drive shaft; 26. a second link; 27. a hook; 28. a spacing pin; 29. a spring;

3. a tire.

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.

Fig. 1-3 are schematic structural views of the robot, showing the tire 3 gripped and lifted by the gripping device 2.

A tire carrying manipulator is characterized in that a truss manipulator structure is formed by a truss 1 and a gripping device 2, the gripping device 2 comprises a driving device 22 and at least two groups of expansion and contraction components which are distributed circumferentially, and each expansion and contraction component comprises an expansion and contraction main body and a turnable lifting hook 27 positioned at the lower end of the expansion and contraction main body; the expansion and contraction main body can be opened and closed under the driving of the driving device 22; when the expansion and contraction main body is opened, the expansion and contraction main body can tightly abut against the inner wall of the tire hole, and the lifting hook 27 is opened to be in a reverse hook shape; when the expansion and contraction body is retracted, the hooks 27 are in a retracted state and the maximum outer diameter of the expansion and contraction assembly is smaller than the inner diameter of the tire.

Preferably, the gripping device 2 further comprises a support assembly 21; the driving device 22 is fixed on the supporting component 21; the expansion and contraction assembly comprises a first connecting rod 23, a second connecting rod 26 and a vertical rod 24 forming an expansion and contraction main body; one end of the first connecting rod 23 is hinged with the supporting component 21, and the other end of the first connecting rod 23 is hinged with the upper ends of vertical rods 24 which are arranged along the vertical direction; the driving device 22 drives the transmission shaft 25 to move in the vertical direction, one end of the second connecting rod 26 is hinged with the transmission shaft 25, and the other end of the second connecting rod 26 is hinged on the vertical rod 24; the lower end of the vertical rod 24 is hinged with the middle part of a lifting hook 27, and the inner end of the lifting hook 27 is hinged on a transmission shaft 25.

Preferably, the lower end of the vertical rod 24 is provided with a groove for the rotation of the lifting hook 27, the lower end of the groove is fixed with a limit pin 28, and when the limit pin 28 is propped against the lifting hook 27, the upper surface of the lifting hook 27 is horizontal.

Preferably, the ends of adjacent hooks 27 adjacent to the drive shaft 25 are connected by a spring 29.

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

Preferably, the truss 1 comprises two first support plates 11 arranged in parallel, and the first support plates 11 are supported and fixed by a support fixed on the floor; a first guide rail extending along the length direction of the first support plate 11 is fixed on the first support plate 11, and a first sliding table capable of sliding on the first guide rail is arranged on the first guide rail; a second support plate 12 is arranged in the direction perpendicular to the first support plate 11, two ends of the second support plate 12 are fixed on the first sliding table, a second guide rail extending along the length direction of the second support plate 11 is fixed on the second support plate 11, and a second sliding table capable of sliding on the second guide rail is arranged on the second guide rail; a third support plate is fixed on the second sliding table, a third guide rail arranged in the vertical direction is fixed on the third support plate, and a third sliding table capable of sliding on the third guide rail is arranged on the third guide rail; the gripping device 2 is fixed on the third sliding table.

Preferably, a first limiting block 111 and a second limiting block 112 are arranged at two ends of any one of the first support plates 11, and the first limiting block 111 and the second limiting block 112 can abut against the first sliding table or the second support plate 12.

Preferably, an origin correcting block 113 is fixed on any one of the first support plates 11, and the origin correcting block 113 is located between the first stopper 111 and the second stopper 112.

Preferably, the first guide rail, the second guide rail and the third guide rail are all provided with steel rail rack assemblies.

Fig. 6 is a schematic structural view of the gripping device 2 when it is folded, before the operation is started, the driving device 22 drives the transmission shaft 25 to move away from the driving device 22, that is, the transmission shaft 25 moves downward, and the transmission shaft 25 drives the second connecting rod 26 to move downward; the second link 26 will drive the vertical rod 24 to retract inwards, and the vertical rod 24 will drive the hook 27 to rotate towards the direction close to the transmission shaft 25, so as to complete the retracting movement of the gripping device 2.

Fig. 4-5 are schematic structural views of the gripping device 2 when it is opened, the driving device 22 drives the transmission shaft 25 to move toward the direction close to the driving device 22, i.e. the transmission shaft 25 moves upward, and the transmission shaft 25 drives the second connecting rod 26 to move upward; the second link 26 will cause the vertical bar 24 to expand outwardly, the vertical bar 24 causing the hook 27 to rotate away from the drive shaft 25; when the hook 27 moves to contact with the stopper pin 28, the hook 27 moves to the dead point, that is, the hook 27 cannot rotate downward any more, and the upper surface of the hook 27 is horizontal, thereby completing the expanding movement of the gripping device 2. When the tire 3 is extracted and transferred, the gripping device 2 firstly extends into the middle part of the tire 3 in a contraction state, and then when the gripping device 2 is opened to lift the tire 3, the lifting hook 27 clamps the limit pin 28 to form a clamping mechanism, and at the moment, the vertical rod 24 does not support against the inner surface of the tire 3; or the vertical rod 24 is tightly propped against the inner surface of the tire 3, the lifting hook 27 is not contacted with the limit pin 28, and the limit pin 28 plays a role in safety guarantee. In addition, in the whole process, the gravity of the tire 3 in the vertical direction, which is received by the lifting hook 27, is transmitted to the supporting component 21 through the comprehensive action of the first connecting rod 23, the second connecting rod 26 and the vertical rod 24, so that the axial stress of the driving device 22 is reduced, the requirement of the gripping device 2 can be met by using the driving device 22 with general specifications, the cost is reduced, and the service life of the driving device 22 is prolonged. 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 using an air cylinder as the driving device 22, after moving the tire 3 to a designated position, the air cylinder pushes out the transmission shaft 25 through the piston rod, and the spring 29 also provides power for retracting the hook 27.

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. A tire carrying manipulator is characterized in that the grabbing device (2) comprises a driving device (22) and at least two groups of expansion and contraction assemblies distributed circumferentially, and each expansion and contraction assembly comprises an expansion and contraction main body and a reversible lifting hook (27) positioned at the lower end of the expansion and contraction main body; the expansion and contraction main body can be opened and closed under the driving of the driving device (22); when the expansion and contraction main body is opened, the expansion and contraction main body can tightly abut against the inner wall of the tire hole, and the lifting hook (27) is opened to be in a reverse hook shape; when the expansion and contraction body is retracted, the lifting hook (27) is in a retracted state, and the maximum outer diameter of the expansion and contraction assembly is smaller than the inner diameter of the tire.

2. The tyre handling robot according to claim 1, wherein the gripping device (2) further comprises a support assembly (21); the driving device (22) is fixed on the supporting component (21); the expansion and contraction assembly comprises a first connecting rod (23), a second connecting rod (26) and a vertical rod (24) forming an expansion and contraction main body; one end of the first connecting rod (23) is hinged with the supporting component (21), and the other end of the first connecting rod (23) is hinged with the upper ends of vertical rods (24) which are arranged in the vertical direction; the driving device (22) drives a transmission shaft (25) to move in the vertical direction, one end of the second connecting rod (26) is hinged with the transmission shaft (25), and the other end of the second connecting rod (26) is hinged on the vertical rod (24); the lower end of the vertical rod (24) is hinged to the middle of the lifting hook (27), and the inner end of the lifting hook (27) is hinged to the transmission shaft (25).

3. The manipulator according to claim 2, wherein the lower end of the vertical rod (24) is provided with a groove for the hook (27) to rotate, a limit pin (28) is fixed at the lower end of the groove, and when the limit pin (28) abuts against the hook (27), the upper surface of the hook (27) is horizontal.

4. The tire handling robot according to claim 2, wherein the ends of adjacent hooks (27) adjacent to the drive shaft (25) are connected by a spring (29).

5. The tire handling robot of claim 1, wherein the expansion and contraction assemblies are arranged in three groups in a uniform manner in a horizontal circumferential direction.

6. The manipulator according to claim 1, wherein the truss (1) comprises two first support plates (11) arranged in parallel, the first support plates (11) being supported and fixed by supports fixed on the floor; a first guide rail extending along the length direction of the first supporting plate (11) is fixed on the first supporting plate (11), and a first sliding table capable of sliding on the first guide rail is arranged on the first guide rail; a second supporting plate (12) is arranged in the direction perpendicular to the first supporting plate (11), two ends of the second supporting plate (12) are fixed on the first sliding table, a second guide rail extending in the length direction of the second supporting plate (12) is fixed on the second supporting plate (12), and a second sliding table capable of sliding on the second guide rail is arranged on the second guide rail; a third support plate is fixed on the second sliding table, a third guide rail arranged in the vertical direction is fixed on the third support plate, and a third sliding table capable of sliding on the third guide rail is arranged on the third guide rail; and the gripping device (2) is fixed on the third sliding table.

7. The manipulator according to claim 6, wherein a first stopper (111) and a second stopper (112) are disposed at two ends of any one of the first support plates (11), and the first stopper (111) and the second stopper (112) can abut against the first sliding table or the second support plate (12).

8. The manipulator as claimed in claim 7, wherein an origin correcting block (113) is fixed to any one of the first support plates (11), and the origin correcting block (113) is located between the first stopper (111) and the second stopper (112).

9. The tire handling robot of claim 6, wherein the first rail, the second rail, and the third rail are each a rail and rack assembly.