CN211422012U

CN211422012U - Robot clamping arm and tire clamping device

Info

Publication number: CN211422012U
Application number: CN201922324214.5U
Authority: CN
Inventors: 苏刚
Original assignee: Zongheng Intelligent Shenyang Robot Technology Co ltd
Current assignee: Zongheng Intelligent Shenyang Robot Technology Co ltd
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2020-09-04
Anticipated expiration: 2029-12-23

Abstract

A robot clamping arm and a tire clamping device belong to the field of mechanical three-dimensional parking equipment. The clamping arm comprises an arm rod, a swinging piece, a roller and a limiting structure, one end of the arm rod is connected with the driving wheel, the other end, close to the arm rod, of the arm rod is connected with the swinging piece, the roller is arranged on the swinging piece and is in contact with the tread of an automobile tire through the roller, and the limiting device is arranged between the swinging piece and the arm rod to ensure the initial position of the swinging piece. The utility model discloses a swing of swing piece adapts to the contact angle deviation that tire size and arm lock positional deviation arouse, has avoided the emergence of the concentrated atress condition that arouses because the contact is inhomogeneous.

Description

Robot clamping arm and tire clamping device

Technical Field

The utility model belongs to mechanical type sky parking equipment field especially relates to a robot arm lock and tire clamping device for wrapping wheeled car transport.

Background

Embrace and press from both sides wheeled transfer robot is the core component among the intelligent mechanical type sky parking equipment, simple structure, the operation is reliable to realize the structural design of ultra-thin formula easily, more and more become intelligent sky parking equipment's preferred scheme, receive the high attention in the industry. The holding and clamping wheel type carrying robot mainly realizes holding and clamping of an automobile tire through rotation of a group of two clamping arms in the symmetrical direction in the work conveying process, so that the automobile tire is lifted, and the carrying process is realized. The mode of adopting the clamping arm to rotate to clamp the tire only comprises one rotation motion of the clamping arm, has obvious advantages in cost and operational reliability, but because the clamping arm rotates around a fixed shaft, because the size of an automobile tire is different, the clamping arm can not be parallel to the tire tread at each clamping time, the stress point of the tire is too small in the clamping process, the contact strength is too large, the tire is damaged, if the clamping arm can be ensured to be in parallel contact with the tire all the time in the clamping process, the stress is ensured to be uniform, and the clamping arm can be well supported in popularization in the application of a carrying robot.

SUMMERY OF THE UTILITY MODEL

To the technical problem that above-mentioned exists, the utility model provides a robot arm lock and tire clamping device, when the arm lock was embraced and is pressed from both sides the tire, the adaptation tire tread that the pendulum rod can be passive, no matter the tire size reaches for the position of arm lock how, the pendulum rod all is on a parallel with the tire tread, avoids because the inhomogeneous atress that arouses of contact excessively concentrates, damages the tire.

The purpose of the utility model is realized through the following technical scheme:

the utility model relates to a robot arm lock, including armed lever, swing piece, cylinder and stop device, the drive wheel is connected to armed lever one end, is close to the armed lever other end and connects the swing piece, set up the cylinder on the swing piece, through cylinder contact automobile tire tread, be provided with stop device between swing piece and armed lever, guarantee the initial position of swing piece.

Preferably, the limiting device is a spring arranged between the swinging piece and the arm rod.

Preferably, the spring mounting structure is that a spring positioning rod is arranged at the end part of the swinging piece, a slotted hole for mounting the spring is correspondingly formed in the swinging piece, one end of the spring is sleeved on the spring positioning rod, and the other end of the spring is arranged in the spring mounting groove hole of the swinging piece.

Preferably, the swinging piece is a swinging frame, a towing rod for installing the roller is arranged on the frame and used for installing the roller, a swinging shaft is arranged below the frame and connected with a swinging piece shaft hole on the arm rod through the swinging shaft, and a spring installing hole is formed in the position corresponding to the spring locating rod of the arm rod.

Preferably, the length of the roller is 200-400 mm.

Preferably, the drum is a roll of flexible material.

Preferably, the roller is a rubber roller.

A robot tire clamping device comprises two robot clamping arms which are symmetrically arranged, wherein the two roller ends are opposite, and the robot clamping arms synchronously move to clamp or release an automobile tire.

The utility model has the advantages that:

1. the swinging piece is arranged on the arm rod and can swing to a certain degree around the swinging rod shaft, and when the swinging piece does not contact with a tire, the swinging piece swings to one side under the action of the spring. When the clamping arm is in contact with the tire, the swinging piece compresses the spring to swing slightly due to the acting force of the contact surface, and the swinging rod is always kept parallel to the tire tread in the whole clamping process, so that the tire tread is in contact with the swinging rod in the largest area, and the tire is prevented from being damaged in the clamping process.

2. The utility model discloses a swing of swing piece adapts to the contact angle deviation that tire size and arm lock positional deviation arouse, has avoided the emergence of the concentrated atress condition that arouses because the contact is inhomogeneous.

Drawings

FIG. 1 is a schematic view of a clamp arm structure according to the present invention.

Fig. 2 is a schematic view of the arm lever of fig. 1.

Fig. 3 is a schematic structural diagram of the swing link in fig. 1.

Fig. 4 is a schematic top view of fig. 3.

Fig. 5 is a schematic cross-sectional view of the drum of fig. 1.

FIG. 6 is a schematic diagram of a clasping process of the present invention.

Fig. 7 is a schematic top view of fig. 6.

In the figure: 1. the device comprises an arm rod, a roller, a swinging piece, a spring, a swinging piece shaft hole, a spring positioning rod, an arm rod shaft hole, a driving wheel, a spring mounting hole, a swinging shaft, a drag rod, a roller shaft line, a tire, a clamping contact position and a clamping completion position, wherein the arm rod is 2, the roller is 3, the swinging piece, the spring is 4, the swinging piece shaft hole is 5, the spring positioning rod is 6, the arm rod.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples.

Example (b): as shown in figure 1, the robot clamping arm comprises an arm rod 1, a swinging piece 3, a roller 2 and a limiting device, wherein one end of the arm rod 1 is connected with a driving wheel 8, the robot power device is connected through the driving wheel 8, the swinging piece 3 which can swing is connected close to the other end of the arm rod 1, the swinging piece 3 slightly swings around the arm rod 1 relatively, the roller 2 is arranged on the swinging piece 3, the roller 2 is in contact with the tread of an automobile tire 13, and the limiting device is arranged between the swinging piece 3 and the arm rod 1, so that the initial position of the swinging piece 3 is ensured.

The limiting device is characterized in that a spring 4 is arranged between the swinging piece 3 and the arm lever 1. The installation structure of the spring 4 is that a spring positioning rod 6 is arranged at the end part of the swinging piece 3, a spring installation slot hole 9 is correspondingly formed in the swinging piece 3, one end of the spring 4 is sleeved on the spring positioning rod 6, and the other end of the spring 4 is arranged in the spring installation hole 9 of the swinging piece 3. The spring positioning rod 6 is used for blocking the spring 4 to play a limiting role.

The swing piece 3 is a swing frame, a drag rod 11 for installing the roller 2 is arranged on the frame and used for installing the roller 2, a swing shaft 10 is arranged below the frame and connected with a swing piece shaft hole 5 on the arm rod 1 through the swing shaft 10, the swing piece 3 can rotate around the swing shaft 10, and a spring installing hole 9 is formed in the position corresponding to a spring positioning rod 6 of the arm rod 1.

The roller 2 is mounted on the tow bar 11, and the roller 2 can rotate around the roller axis 12 along the tow bar 11 when contacting with the tyre 13, so as to reduce friction. The length of the roller 2 is 200 mm and 400 mm. The drum 2 is a roller of flexible material, such as a rubber roller.

The drive wheel 8 is current structure, and the one end of armed lever 1 has an armed lever shaft hole 7, connects the drive wheel through armed lever shaft hole 7, connects the power device of robot through the drive wheel, drives the drive wheel and rotates to the motion of drive arm lock, the arm lock can be round the rotatory swing in armed lever shaft hole 7.

When the clamping arm is in contact with the tire surface of an automobile tire, the swinging piece 3 can adapt to the condition that the contact surface is not parallel caused by the angular deviation of the tire surface position and the swinging piece 3. The problem of stress concentration caused by non-parallel contact surfaces is avoided.

The invention relates to a tire clamping device for a robot, which comprises two robot clamping arms which are symmetrically arranged, wherein the two ends of each roller 2 are opposite, and the rollers synchronously move to clamp or release an automobile tire. The tire clamping devices are symmetrically arranged on two sides of the robot body to form clamping carriers for clamping front wheels or rear wheels of the automobile, and the two clamping carriers are combined to form the automobile carrier for carrying the automobile.

Claims

1. The utility model provides a robot arm lock which characterized in that: the automobile tire swinging device comprises an arm lever, a swinging piece, a roller and a limiting device, wherein one end of the arm lever is connected with a driving wheel, the other end, close to the arm lever, of the arm lever is connected with the swinging piece, the roller is arranged on the swinging piece and is in contact with the tire surface of an automobile tire through the roller, and the limiting device is arranged between the swinging piece and the arm lever to ensure the initial position of the swinging piece.

2. The robotic gripper of claim 1, wherein: the limiting device is provided with a spring between the swinging piece and the arm rod.

3. The robotic gripper of claim 2, wherein: the spring mounting structure is characterized in that a spring positioning rod is arranged at the end part of the swinging piece, a slotted hole for mounting the spring is correspondingly formed in the swinging piece, one end of the spring is sleeved on the spring positioning rod, and the other end of the spring is arranged in the spring mounting groove hole of the swinging piece.

4. The robotic gripper of claim 2, wherein: the swing piece is a swing frame, a drag rod for installing the roller is arranged on the frame and used for installing the roller, a swing shaft is arranged below the frame and connected with a swing piece shaft hole on the arm rod through the swing shaft, and a spring installing hole is formed in the position, corresponding to the spring locating rod of the arm rod.

5. The robotic gripper of claim 1, wherein: the length of the roller is 200 mm and 400 mm.

6. The robotic gripper of claim 1, wherein: the drum is a roll of flexible material.

7. The robotic gripper of claim 6, wherein: the roller is a rubber roller.

8. A robot tire clamping device which characterized in that: comprising two symmetrically arranged robot gripping arms according to any one of claims 1-7, the two drum ends being opposite and moving synchronously to grip or release a car tyre.