CN214163046U - Tire carrying manipulator - Google Patents
Tire carrying manipulator Download PDFInfo
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- CN214163046U CN214163046U CN202121907292.9U CN202121907292U CN214163046U CN 214163046 U CN214163046 U CN 214163046U CN 202121907292 U CN202121907292 U CN 202121907292U CN 214163046 U CN214163046 U CN 214163046U
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Abstract
The utility model discloses a tire carrying manipulator, which comprises a truss and a gripping device, wherein the gripping device comprises a first cylinder fixed below the truss and a gripping disc fixed at the output end of the first cylinder, the gripping disc comprises a lifting hook, a telescopic mechanism, a pressure sensor and a central processing unit, the lifting hook is equidistantly arranged below the gripping disc, the telescopic mechanism can drive the lifting hook to open or retract, the pressure sensor is positioned on the outer side surface of the lifting hook, the central processing unit is positioned at the surface middle position of the gripping disc, the utility model can open the lifting hook to clamp a tire, when the lifting hook is contacted with the tire, the pressure sensor senses the tire and sends a signal to the central processing unit, and the central processing unit controls a corresponding second cylinder to stop working, so that each group of lifting hooks can be contacted with the tire, the inner wall of the tire is tightly supported, the grabbing disc is positioned without additionally using a positioning mechanism, and the operation is convenient.
Description
Technical Field
The utility model relates to a manipulator technical field specifically is a tire transport manipulator.
Background
The manipulator is a device capable of simulating human hands and arms, is an automatic operation device used for grabbing and carrying objects or operating tools according to a fixed program, and is often used when an automobile tire is carried.
The utility model discloses a current chinese utility model patent that patent publication number is CN213678839U discloses a manipulator is got to tire clamp, when the tire is got to needs clamp, gets the tire clamp through splint, makes the fixed disk drive tire rebound, then the bottom of tire is held in the layer board support of rethread, avoids the tire at the in-process of shifting landing carelessly.
However, when the manipulator is used, the axis of the fixed disk needs to correspond to the axis of the tire, namely, the fixed disk needs to be located at the center of the tire, if the position of the fixed disk or the tire deviates, when the tire is grabbed by the clamping plate, the tire can incline, even the grabbing is unsuccessful, so that the fixed disk or the tire needs to be positioned again, the process is complicated, the positioning time is long, the carrying efficiency is low, and the manipulator is inconvenient to use.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a tire transport manipulator to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a tire carrying manipulator comprises a truss and a grabbing device, wherein the grabbing device is positioned below the truss and comprises a first air cylinder fixed below the truss and a grabbing disc fixed at the output end of the first air cylinder, and the grabbing disc comprises a lifting hook, a telescopic mechanism, a pressure sensor and a central processing unit;
the lifting hooks are used for clamping tires, a plurality of groups of lifting hooks are arranged on the lifting hooks, and the lifting hooks are arranged below the grabbing plate at equal intervals;
the telescopic mechanism is used for connecting the grabbing disc and the lifting hook, and can drive the lifting hook to expand or retract;
the pressure sensor is used for sensing whether the lifting hook is in contact with the tire or not, and the pressure sensor is positioned on the outer side surface of the lifting hook;
the central processing unit is used for driving the telescopic mechanism to stop working, the central processing unit is located in the middle position of the surface of the grabbing disc, and the pressure sensor and the telescopic mechanism are electrically connected with the central processing unit.
As a further aspect of the present invention: telescopic machanism is including being located the multiunit mounting groove that snatchs set outside surface, the inside of mounting groove is rotated and is connected with the second cylinder, the output of second cylinder is rotated and is connected with the dwang, the one end of dwang with the inner wall of mounting groove rotates and connects, the other end below fixedly connected with connecting rod of dwang, the lifting hook is fixed in the bottom of connecting rod, the second cylinder with central processing unit electric connection.
As a further aspect of the present invention: the bottom of mounting groove is equipped with the spout that the connecting rod of being convenient for passed, the connecting rod with spout sliding connection, the dwang with mounting groove size phase-match.
As a further aspect of the present invention: the truss comprises two groups of first support frames which are arranged in parallel, a second support frame is connected to the middle position of each first support frame in a sliding mode, and the fixed end of each first air cylinder is fixedly connected with the second support frame.
As a further aspect of the present invention: the middle part of the surface of the grabbing disc is provided with a second groove, and the central processor is located inside the second groove.
As a further aspect of the present invention: one side of the lifting hook close to the tire is provided with a first groove, and the pressure sensor is located inside the first groove.
As a further aspect of the present invention: the lifting hook is equipped with the rubber sleeve that is used for playing the guard action to the lifting hook near the one end of tire.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a be equipped with telescopic machanism, can drive the dwang through the second cylinder and rotate, make the dwang drive the lifting hook rotation through the connecting rod, make the lifting hook can open, press from both sides the tire and get, when lifting hook and tire contact, pressure sensor senses the tire, and send the signal for central processing unit, the corresponding second cylinder stop work of central processing unit control, thereby make every group lifting hook homoenergetic contact with the tire, support tight tire inner wall, stability when having increased the tire transport, need not additionally use positioning mechanism to fix a position snatching the dish, moreover, the steam generator is simple in structure, and convenient operation.
The utility model discloses the big or small phase-match of well mounting groove and dwang, when using, accessible second cylinder accomodates the dwang to the inside of mounting groove for the lifting hook can retract to the below of snatching the dish, thereby makes the volume of snatching the dish diminish, is convenient for snatch the inside that the dish stretched into the tire, uses comparatively in a flexible way, convenient to use.
The utility model discloses a be equipped with the rubber sleeve, can play the guard action to the lifting hook, press from both sides when getting to the tire simultaneously, can also increase the frictional force between tire and the lifting hook for the difficult landing of tire has further increased the stability when the tire clamp is got.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the first cylinder in the present invention.
Fig. 3 is a schematic structural view of the grabbing plate of the present invention.
Fig. 4 is a schematic structural diagram of the middle pressure sensor of the present invention.
Fig. 5 is a schematic structural view of the middle rubber sleeve of the present invention.
Wherein: 1. a truss; 2. a gripping device; 3. a first support frame; 4. a second support frame; 5. a first cylinder; 6. grabbing a disc; 7. a hook; 8. a pressure sensor; 9. a central processing unit; 10. a first groove; 11. a second groove; 12. a rubber sleeve; 13. mounting grooves; 14. a second cylinder; 15. rotating the rod; 16. a connecting rod; 17. a chute.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1-5, in an embodiment of the present invention, a tire carrying manipulator includes a truss 1 and a gripping device 2, where the gripping device 2 is located below the truss 1, the gripping device 2 includes a first cylinder 5 fixed below the truss 1 and a gripping disc 6 fixed at an output end of the first cylinder 5, and the gripping disc 6 includes a hook 7, a telescopic mechanism, a pressure sensor 8, and a central processing unit 9;
the lifting hooks 7 are used for clamping tires, a plurality of groups of lifting hooks 7 are arranged on the lifting hooks 7, so that the clamping effect of the manipulator is better, the clamping process is more stable, and the lifting hooks 7 are arranged below the grabbing plate 6 at equal intervals;
the telescopic mechanism is used for connecting the grabbing disc 6 and the lifting hook 7, the telescopic mechanism can drive the lifting hook 7 to expand or retract, and when the lifting hook 7 is expanded, a tire can be clamped;
the pressure sensor 8 is used for sensing whether the hook 7 is in contact with a tire or not, and the pressure sensor 8 is positioned on the outer side surface of the hook 7;
The telescopic mechanism comprises a plurality of groups of mounting grooves 13 positioned on the outer side surface of the grabbing disc 6, a second cylinder 14 is connected to the inside of each mounting groove 13 in a rotating mode, a rotating rod 15 is connected to the output end of the second cylinder 14 in a rotating mode, one end of the rotating rod 15 is connected with the inner wall of each mounting groove 13 in a rotating mode, a connecting rod 16 is fixedly connected to the lower portion of the other end of the rotating rod 15, the lifting hook 7 is fixed to the bottom end of the connecting rod 16, the second cylinder 14 is electrically connected with the central processing unit 9, the rotating rod 15 can be driven to rotate through the second cylinder 14, the rotating rod 15 can drive the lifting hook 7 to rotate through the connecting rod 16, the lifting hook 7 can be opened and can clamp tires, when the lifting hook 7 is in contact with the tires, the pressure sensor 8 senses the tires and sends signals to the central processing unit 9, and the central processing unit 9 controls the corresponding second cylinder 14 to stop working, thereby make every lifting hook 7 homoenergetic contact with the tire, support tight tire inner wall, stability when having increased the tire transport need not additionally use positioning mechanism to fix a position, simple structure, convenient operation snatching dish 6.
The bottom of mounting groove 13 is equipped with the spout 17 that is convenient for connecting rod 16 to pass, connecting rod 16 with spout 17 sliding connection, dwang 15 with mounting groove 13 size phase-match, mounting groove 13 and dwang 15 size phase-match, when using, accessible second cylinder 14 accomodates dwang 15 to the inside of mounting groove 13 for lifting hook 7 can retract to the below of snatching dish 6, thereby makes the volume of snatching dish 6 diminish, is convenient for snatch the inside that dish 6 stretched into the tire, and it is comparatively nimble to use, convenient to use.
The middle part of the surface of the grabbing disc 6 is provided with a second groove 11, the central processing unit 9 is positioned inside the second groove 11, and the second groove 11 is used for installing the central processing unit 9.
One side of the lifting hook 7 close to the tire is provided with a first groove 10, the pressure sensor 8 is located inside the first groove 10, and the first groove 10 is used for installing the pressure sensor 8.
Example 2
Referring to fig. 1-5, the difference from embodiment 1 is: the one end that lifting hook 7 is close to the tire is equipped with and is used for playing the rubber sleeve 12 of guard action to lifting hook 7, and rubber sleeve 12 can play the guard action to lifting hook 7, and when getting the tire clamp, can also increase the frictional force between tire and the lifting hook 7 simultaneously for the difficult landing of tire has further increased the stability when getting the tire clamp.
The utility model discloses a theory of operation is:
the utility model discloses when using, first cylinder 5 can drive and snatch dish 6 downstream, make and snatch the inside that dish 6 can stretch into the tire that needs the transport, can drive dwang 15 through second cylinder 14 and rotate, make dwang 15 can drive lifting hook 7 through connecting rod 16 and rotate, make lifting hook 7 can open, press from both sides the tire and get, when lifting hook 7 contacts with the tire, pressure sensor 8 senses the tire, and send signal gives central processing unit 9, the corresponding second cylinder 14 stop work of central processing unit 9 control, thereby make every group lifting hook 7 homoenergetic contact with the tire, support tight tire inner wall, stability when having increased the tire transport, need not additionally use positioning mechanism to fix a position snatching dish 6, moreover, the steam generator is simple in structure, and convenient operation.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention.
Claims (7)
1. A tire carrying manipulator comprises a truss (1) and a grabbing device (2), wherein the grabbing device (2) is located below the truss (1), the grabbing device (2) comprises a first air cylinder (5) fixed below the truss (1) and a grabbing disc (6) fixed at the output end of the first air cylinder (5), and the tire carrying manipulator is characterized in that the grabbing disc (6) comprises a lifting hook (7), a telescopic mechanism, a pressure sensor (8) and a central processing unit (9);
the lifting hooks (7) are provided with a plurality of groups, and the lifting hooks (7) are arranged below the grabbing disc (6) at equal intervals;
the pressure sensor (8) is positioned on the outer side surface of the lifting hook (7);
the central processing unit (9) is located in the middle of the surface of the grabbing disc (6), and the pressure sensor (8) and the telescopic mechanism are electrically connected with the central processing unit (9).
2. The tire carrying manipulator as claimed in claim 1, wherein the telescoping mechanism comprises a plurality of sets of mounting grooves (13) on the outer side surface of the grabbing disc (6), a second cylinder (14) is rotatably connected to the inside of the mounting grooves (13), a rotating rod (15) is rotatably connected to the output end of the second cylinder (14), one end of the rotating rod (15) is rotatably connected to the inner wall of the mounting grooves (13), a connecting rod (16) is fixedly connected to the lower portion of the other end of the rotating rod (15), the lifting hook (7) is fixed to the bottom end of the connecting rod (16), and the second cylinder (14) is electrically connected with the central processing unit (9).
3. A tyre handling manipulator according to claim 2, wherein the bottom end of the mounting groove (13) is provided with a sliding groove (17) for a connecting rod (16) to pass through, the connecting rod (16) is slidably connected with the sliding groove (17), and the rotating rod (15) is matched with the mounting groove (13) in size.
4. A tyre handling manipulator according to claim 1, wherein the truss (1) comprises two sets of first support frames (3) arranged in parallel, a second support frame (4) is slidably connected to the middle position of the first support frames (3), and the fixed end of the first cylinder (5) is fixedly connected with the second support frame (4).
5. A tyre handling manipulator as claimed in claim 1, wherein the gripping disc (6) is provided with a second recess (11) in the middle of its surface, the central processor (9) being located inside the second recess (11).
6. A tyre handling robot as claimed in claim 1, characterised in that the side of the hook (7) adjacent the tyre is provided with a first recess (10), the pressure sensor (8) being located inside the first recess (10).
7. A tyre handling robot as claimed in claim 1, characterised in that the end of the hook (7) adjacent the tyre is provided with a rubber sleeve (12) for protecting the hook (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121907292.9U CN214163046U (en) | 2021-08-16 | 2021-08-16 | Tire carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121907292.9U CN214163046U (en) | 2021-08-16 | 2021-08-16 | Tire carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214163046U true CN214163046U (en) | 2021-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121907292.9U Active CN214163046U (en) | 2021-08-16 | 2021-08-16 | Tire carrying manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN214163046U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116621018A (en) * | 2023-05-31 | 2023-08-22 | 荣成荣鹰橡胶制品有限公司 | Solid tire clamping and transferring device and using method |
| CN116946730A (en) * | 2023-09-18 | 2023-10-27 | 山东玲珑机电有限公司 | Tyre stacking device |
| CN118636185A (en) * | 2024-08-15 | 2024-09-13 | 沈阳新鹏机械制造有限公司 | Handling manipulator device for tire production line |
-
2021
- 2021-08-16 CN CN202121907292.9U patent/CN214163046U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116621018A (en) * | 2023-05-31 | 2023-08-22 | 荣成荣鹰橡胶制品有限公司 | Solid tire clamping and transferring device and using method |
| CN116621018B (en) * | 2023-05-31 | 2023-12-22 | 荣成荣鹰橡胶制品有限公司 | Solid tire clamping and transferring device and using method |
| CN116946730A (en) * | 2023-09-18 | 2023-10-27 | 山东玲珑机电有限公司 | Tyre stacking device |
| CN116946730B (en) * | 2023-09-18 | 2023-11-21 | 山东玲珑机电有限公司 | Tyre stacking device |
| CN118636185A (en) * | 2024-08-15 | 2024-09-13 | 沈阳新鹏机械制造有限公司 | Handling manipulator device for tire production line |
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