CN217322340U

CN217322340U - Grabbing device and tire bead feeding equipment

Info

Publication number: CN217322340U
Application number: CN202221283713.XU
Authority: CN
Inventors: 孙丰鑫; 于涛; 谢刚
Original assignee: Mesnac Co Ltd; Qingdao Mesnac Electromechanical Engineering Co Ltd
Current assignee: Mesnac Co Ltd; Qingdao Mesnac Electromechanical Engineering Co Ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2022-08-30
Anticipated expiration: 2032-05-26

Abstract

The utility model provides a grabbing device and tire bead charging equipment, grabbing device includes: a frame; the tire bead grabbing mechanisms are sequentially arranged on the rack along a first preset direction so as to grab each tire bead correspondingly; the separator grabbing mechanism is arranged on the rack and used for grabbing the separator for placing the tire bead. The utility model discloses a grabbing device has solved the problem of tire bead feed inefficiency when making the tire among the prior art.

Description

Grabbing device and tire bead feeding equipment

Technical Field

The utility model relates to a tire manufacturing technical field particularly, relates to a grabbing device and tire bead charging equipment.

Background

The tire bead of a passenger radial tire building machine is one of key components formed by a tire structure and is a framework for supporting the tire, the tire bead needs to be transferred to tire building machine equipment through manual work or a manipulator to be assembled with a tire body in the actual tire production process, and along with the improvement of the automation requirement of a customer on the equipment, the realization mode of automatically loading a ring by a special fixture matched with the manipulator becomes a main realization mode.

The existing bead conveying mode of a manipulator is as follows: the manipulator is provided with a special grabbing tool, runs to the upper part of the storage device, carries out grabbing action, grabs a tire bead separator and a tire bead on the upper part at one time in the grabbing process, places the tire bead separator on a specific position, then places the tire bead on the upper part on a specific tire bead placing position, and then repeats the action to carry out grabbing work of the tire bead.

In the above working process, the grabbing of each bead needs to reach the following three positions in sequence: storage device, tire bead baffle place the position and the tire bead place the position, and a tire needs two tire beads, then needs to repeat above-mentioned step twice, and the confession tire bead of single tire is long, and is inefficient, has influenced the manufacturing progress of whole tire production line.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a grabbing device and tire bead charging equipment to solve the problem of tire bead feed inefficiency when making the tire among the prior art.

In order to achieve the above object, according to an aspect of the present invention, there is provided a grasping apparatus, including: a frame; the tire bead grabbing mechanisms are sequentially arranged on the rack along a first preset direction so as to grab each tire bead correspondingly; the separator grabbing mechanism is arranged on the rack and used for grabbing the separator for placing the tire bead.

Further, the plurality of bead grabbing mechanisms comprise a first bead grabbing mechanism and a second bead grabbing mechanism, the first bead grabbing mechanism comprises a plurality of first clamping jaws which are arranged around the rack and can move in a telescopic mode along the radial direction, the second bead grabbing mechanism comprises a plurality of second clamping jaws which are arranged around the rack and can move in a telescopic mode along the radial direction.

Further, a plurality of second claws and a plurality of first claws are arranged in a one-to-one correspondence, wherein the second claws are movably arranged on the first claws along a first preset direction.

Further, the second bead grabbing mechanism further comprises a second driving mechanism, the second driving mechanism is arranged on the first clamping jaw, and the second driving mechanism is in driving connection with the second clamping jaw so as to drive the second clamping jaw to move relative to the first clamping jaw.

Furthermore, the grabbing device further comprises a first driving mechanism, and the first driving mechanism is in driving connection with each first clamping jaw respectively so as to drive each first clamping jaw to move simultaneously and drive each corresponding second clamping jaw to move.

Further, grabbing device still includes guiding mechanism, and guiding mechanism includes a plurality of first guide rails, and a plurality of first guide rails encircle the frame setting and extend the setting along the first direction of predetermineeing of perpendicular to, and wherein, a plurality of first jack catchs one-to-one sets up on each first guide rail to slide along first guide rail.

Further, the grabbing device further comprises a plurality of detection mechanisms, and the detection mechanisms and the bead grabbing mechanisms are arranged in a one-to-one correspondence mode to detect whether the bead grabbing mechanisms grab the beads or not respectively.

Further, the tire bead grabbing mechanism comprises a plurality of clamping jaws which are arranged around the rack to be connected with different positions of the tire bead respectively, wherein the detection mechanism comprises a plurality of detection units which are arranged on the clamping jaws in a one-to-one correspondence mode to detect whether the tire bead exists on the clamping jaws respectively.

Furthermore, the tire bead grabbing mechanism comprises a plurality of clamping jaws, the clamping jaws are arranged around the rack to be connected with different positions of the tire bead respectively, the clamping jaws are provided with extension sections arranged along a first preset direction and bearing sections arranged along a direction perpendicular to the first preset direction, one end of each bearing section is connected with the extension sections, and the other end of each bearing section extends towards the outer side of an annular structure surrounded by the clamping jaws.

Further, the grabbing device still includes: and the third driving mechanism is in driving connection with the partition plate grabbing mechanism to drive the partition plate grabbing mechanism to move along the first preset direction, wherein the partition plate grabbing mechanism is provided with working positions for grabbing the partition plates along the first preset direction, and the third driving mechanism drives the partition plate grabbing mechanism to sequentially move to the corresponding working positions to grab the partition plates.

Further, the baffle snatchs the mechanism and includes a plurality of trips, and a plurality of trips encircle the frame setting to be connected with the different positions of baffle respectively, wherein, the trip has along the first extension section of presetting the direction setting and along the first support section of presetting the direction setting of perpendicular to, and the one end and the extension section of support section are connected, and the other end of support section extends the setting towards the outside of the structure that a plurality of trips enclose.

According to the utility model discloses a second aspect provides a tire bead charging equipment, including grabbing device, strorage device, baffle placer and tire bead installation device, grabbing device is movably to be set up between strorage device, baffle placer and tire bead installation device to on moving in proper order the tire bead on the strorage device and baffle to baffle placer and tire bead installation device, grabbing device is foretell grabbing device.

Use the technical scheme of the utility model's grabbing device includes: the tire bead grabbing mechanism comprises a rack, a plurality of tire bead grabbing mechanisms and a partition plate grabbing mechanism, wherein the tire bead grabbing mechanisms are sequentially arranged on the rack along a first preset direction so as to grab each corresponding tire bead respectively; the separator grabbing mechanism is arranged on the frame to grab the separator for placing the tire bead. Present tire bead is put on the baffle when depositing, and what a tire bead corresponds puts on a baffle, and a tire needs two tire beads, the utility model discloses a grabbing device is used for snatching the material loading to this kind of tire bead of depositing the form, when snatching the action, snatchs the mechanism through a plurality of tire beads and can snatch a plurality of tire beads in proper order, and the baffle snatchs the mechanism and can bear above-mentioned a plurality of tire beads corresponding baffle simultaneously, has reduced and has snatched the number of times, makes the utility model discloses a grabbing device just can realize the required tire bead of at least one tire through once snatching, has improved the efficiency that the tire bead snatched.

Drawings

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

fig. 1 shows a schematic structural view of an embodiment of a gripper according to the present invention;

fig. 2 shows a schematic view of a bead gripping mechanism of an embodiment of the gripper of the present invention;

fig. 3 shows a schematic view of a partition gripping mechanism of an embodiment of the gripper of the present invention;

figure 4 shows a schematic view of an embodiment of the gripper of the invention gripping on a storage device;

figure 5 shows a schematic view of an embodiment of the gripper of the invention after gripping on the storage unit;

figure 6 shows a schematic view of an embodiment of the gripper of the invention after first releasing the partition;

fig. 7 shows a schematic view of an embodiment of the bead feeding method of the present invention.

Wherein the figures include the following reference numerals:

1. a gripping device; 2. a storage device; 3. a separator placement device; 4. a bead mounting device; 5. a manipulator; 6. a storage waiting position; 7. a partition waiting position; 10. a frame; 11. a bead; 12. a partition plate; 21. a first jaw; 211. an extension section; 212. a load-bearing section; 22. a second jaw; 23. a second drive mechanism; 24. a first drive mechanism; 241. a slider; 25. a first guide rail; 26. a detection unit; 31. a third drive mechanism; 311. a second guide rail; 312. a hinge assembly; 32. a hook is clamped; 321. an extension section; 322. a support section.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to solve the problem that 11 feed inefficiency of tire beads among the prior art, the utility model provides a grabbing device and tire bead charging equipment.

Referring to fig. 1 to 7, a grasping apparatus includes: the tire bead grabbing mechanism comprises a rack 10, a plurality of tire bead grabbing mechanisms and a partition plate grabbing mechanism, wherein the tire bead grabbing mechanisms are sequentially arranged on the rack 10 along a first preset direction so as to grab each tire bead 11 correspondingly; a separator gripping mechanism is provided on the frame 10 to grip the separator 12 on which the bead 11 is placed. Present tire bead 11 is put on baffle 12 when depositing, and the corresponding putting of a tire bead 11 is on a baffle 12, and a tire needs two tire beads 11, the utility model discloses a grabbing device 1 is used for snatching the material loading to this kind of tire bead 11 of depositing the form, when snatching the action, snatchs the mechanism through a plurality of tire beads and can snatch a plurality of tire beads 11 in proper order, and the baffle snatchs the mechanism and can bear above-mentioned a plurality of tire beads 11 corresponding baffle 12 simultaneously, has reduced and has snatched the number of times, makes the utility model discloses a grabbing device 1 just can realize the required tire bead 11 of at least one tire through once snatching, has improved the efficiency that tire bead 11 snatched.

The plurality of bead gripping mechanisms include a first bead gripping mechanism including a plurality of first claws 21 disposed around the frame 10 and telescopically movable in a radial direction, and a second bead gripping mechanism including a plurality of second claws 22 disposed around the frame 10 and telescopically movable in a radial direction.

The plurality of first claws 21 and the plurality of second claws 22 each form a circular ring structure, and along the radial direction of this circular ring structure, the plurality of first claws 21 and the plurality of second claws 22 can be simultaneously moved telescopically, the first claws 21 are stretched to grab or release the bead, the second claws 22 are stretched to grab or release the partition plate 12, and the plurality of beads and the plurality of partition plates 12 are sequentially and alternately arranged.

The plurality of second jaws 22 are disposed in one-to-one correspondence with the plurality of first jaws 21, wherein the second jaws 22 are movably disposed on the first jaws 21 along a first preset direction. The second bead gripping mechanism further comprises a second drive mechanism 23, the second drive mechanism 23 being arranged on the first jaw 21, the second drive mechanism 23 being drivingly connected to the second jaw 22 for driving the second jaw 22 in a movement relative to the first jaw 21.

In the embodiment, a specific movement arrangement of the second bead gripping mechanism is described, and the second driving mechanism 23 is in the form of an air cylinder fixed on the inner side of the first jaw 21, and the air cylinder can drive the second jaw 22 to move relative to the first jaw 21 along the vertical direction so as to adjust according to the heights of different beads.

The gripping device 1 further comprises a first driving mechanism 24, wherein the first driving mechanism 24 is respectively in driving connection with each first claw 21 so as to simultaneously drive each first claw 21 to move and correspondingly drive each second claw 22 to move. The gripping device 1 further comprises a guiding mechanism, the guiding mechanism comprises a plurality of first guide rails 25, the plurality of first guide rails 25 are arranged around the frame 10 and extend along a direction perpendicular to the first preset direction, wherein the plurality of first claws 21 are arranged on the respective first guide rails 25 in a one-to-one correspondence so as to slide along the first guide rails 25.

The first driving mechanism 24 in this embodiment includes a driving motor, a gear assembly, a driving screw, and a sliding block 241, specifically, the driving motor rotates to drive the gear assembly to rotate, the gear assembly includes a driving gear connected to the driving motor and a driven gear disposed at an end of the driving screw, the driving gear is located in the middle, a plurality of driven gears are disposed around the driving gear and respectively connected to the driving gear in a matching manner, the plurality of driven gears are disposed in one-to-one correspondence with the plurality of first jaws 21, the driving screw, the sliding block 241, and the driven gear are disposed in one-to-one correspondence, the driven gear rotates to drive the driving screw to rotate, thereby driving the sliding block 241 matched with the transmission screw to move along the first guide rail 25, the sliding block 241 is sleeved on the first guide rail 25, the driving motor drives the sliding block 241 to move telescopically by driving the main gear to rotate forwards and backwards, the moving accuracy of the slider 241 is ensured by providing the gear assembly, the driving screw, and the first guide rail 25.

The gripping device 1 further comprises a plurality of detection mechanisms, and the detection mechanisms and the bead gripping mechanisms are arranged in a one-to-one correspondence manner to detect whether the bead gripping mechanisms grip the beads or not respectively. The bead grabbing mechanism comprises a plurality of clamping jaws which are arranged around the rack 10 to be connected with different positions of a bead respectively, wherein the detection mechanism comprises a plurality of detection units 26, and the detection units 26 are arranged on the clamping jaws in a one-to-one correspondence mode to detect whether the bead exists on the clamping jaws respectively.

In the present embodiment, the plurality of detecting units 26 include a first detecting unit 26 and a second detecting unit 26, the first detecting unit 26 is disposed on the upper portion of the first claw 21 to detect whether or not the bead on the first claw 21 exists to determine whether or not the first claw 21 has gripped the bead, the second detecting unit 26 is disposed inside the second claw 22 to detect whether or not the bead on the second claw 22 exists to determine whether or not the second claw 22 has gripped the bead, and the detecting unit 26 may adopt a detecting manner such as a sensor or a proximity switch.

The tire bead grabbing mechanism comprises a plurality of clamping jaws which are arranged around the frame 10 to be connected with different positions of a tire bead respectively, wherein each clamping jaw is provided with an extending section 211 arranged along a first preset direction and a bearing section 212 arranged along a direction perpendicular to the first preset direction, one end of each bearing section 212 is connected with each extending section 211, and the other end of each bearing section 212 extends towards the outer side of an annular structure formed by the surrounding of the clamping jaws.

The clamping jaws are arranged in various forms, in the embodiment, a structure of an L-shaped clamping jaw is described, specifically, the clamping jaw adopts a structure similar to an angle steel, the extending section 211 is arranged vertically, and the bearing section 212 is arranged horizontally, because the bead grabbing mechanism is firstly contracted and inserted into an inner ring of a bead and then expanded to lift the bead when grabbing the bead, the bearing section 212 is arranged towards the outer side of the circular ring structure so as to bear the bead.

The grabbing device 1 further comprises a third driving mechanism 31, the third driving mechanism 31 is in driving connection with the partition grabbing mechanism to drive the partition grabbing mechanism to move along a first preset direction, wherein the partition grabbing mechanism has working positions for grabbing the partitions along the first preset direction, and the third driving mechanism 31 drives the partition grabbing mechanism to sequentially move to the corresponding working positions to grab the partitions.

The third driving mechanism 31 adopts a power part with multi-stage position output, a plurality of cylinders can be arranged to sequentially move in a telescopic manner, or a servo oil cylinder is adopted to control the position of the partition plate grabbing mechanism, as shown in fig. 4, a first preset direction is a vertical direction, the third driving mechanism 31 drives the partition plate grabbing mechanism to move in a telescopic manner along the vertical direction, when grabbing is started, the third driving mechanism 31 drives the partition plate grabbing mechanism to move to the bottommost end, and then the partition plate is not put down and then contracts by a preset distance, so that the bottommost partition plate in the rest partition plates can be grabbed.

The partition grabbing mechanism comprises a plurality of hooks 32 and a plurality of second guide rails 311, the plurality of hooks are arranged on the second guide rails 311 in a one-to-one correspondence manner and slide along the second guide rails, the plurality of hooks 32 are arranged around the rack 10 to be respectively connected with different positions of the partition, wherein the hooks 32 are provided with extension sections 321 arranged along a first preset direction and support sections 322 arranged along a first preset direction perpendicular to the first preset direction, one end of each support section 322 is connected with the extension section 321, and the other end of each support section 322 extends towards the outer side of a structure surrounded by the plurality of hooks 32.

The hooks 32 are similar to the first and

second jaws

21 and 22, and have an elongated end extending in a vertical direction and a support section 322 extending in a horizontal direction, and the support section 322 also extends toward the outside of the annular structure formed by the hooks 32 to grasp the partition.

The utility model also provides a tire bead charging equipment, including grabbing device 1, strorage device 2, baffle placer 3 and tire bead installation device 4, grabbing device 1 is movably to be set up between strorage device 2, baffle placer 3 and tire bead installation device 4 to remove tire bead and the baffle on the strorage device 2 in proper order to baffle placer 3 and tire bead installation device 4 on, grabbing device 1 is foretell grabbing device 1.

The utility model discloses a last deposit latency position 6 that has still set up of tire bead charging equipment so that timely carries out the material loading to strorage device 2, set up baffle latency position 7 so that in time shift out the baffle on baffle placer 3, thereby ensure the operation that whole tire bead charging equipment does not stop, wherein, baffle latency position 7 and baffle placer 3 are located same mounting bracket, deposit latency position 6 and strorage device 2 and be located same mounting bracket, strorage device 2, baffle placer 3 and tire bead installation device 4 arrange the setting in proper order along a direction, grabbing device 1 sets up in one side so that snatch and release.

The utility model discloses a tire bead charging equipment adopts following tire bead charging method material loading:

step S1: the gripping device 1 moves to a first position and grips the plurality of beads and the plurality of separators on the storage device 2;

step S2: the gripping device 1 moves to the second position to place the bottommost spacer on the spacer placing device 3, and then moves to the third position to place the bottommost bead on the bead mounting device 4;

step S3: the gripping device 1 is moved again to the second position and the cycle is repeated S2 until the last bead is placed on the bead mounting device 4.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

the utility model discloses a tire bead charging equipment is equipped with strorage device 2, is equipped with 2 tire beads of strorage device storage position on strorage device 2 and deposits waiting position, and here is range upon range of a plurality of tire beads of placing vertically, has wherein placed the tire bead baffle between the tire bead. In the illustrated embodiment, the storage device 2 includes a bead input mechanism that can transfer a storage device in which a plurality of beads and separators are stacked, from the storage waiting position 6 to the bead storage position storage device 2, while storing one storage device in advance at the storage waiting position 6;

in fig. 7 the apparatus is shown to further comprise a spacer placing device 3 for placing an empty bead spacer 12. As shown in fig. 7, the spacer placing device 3 is placed between the storage device 2 and the bead mounting device 4. In the actual working process, the manipulator 5 drives the gripping device 1 to transfer the storage device 2 with the bead exhausted by the storage device 2 to the separator placing device 3, so that the storage device 2 is converted into the separator placing device 3.

The bead mounting device 4 is a device for receiving the bead member transferred by the gripper, and can perform reciprocating rotation around its rotation center, thereby enabling both sides to perform the winding operation.

The gripping device 1 is a shared mechanism which is carried by the manipulator 5 and used for clamping and releasing the tire bead and the clapboard, and a power mechanism and a clamping jaw which are carried by the gripping device can finish clamping and releasing the tire bead and the clapboard and finish given actions at different working positions under the control of corresponding programs.

The manipulator 5 can carry the gripping device 1 to move between different work positions, so that the bead can be conveyed from the storage device 2 to the bead mounting device 4, and the bead separator can be conveyed from the storage device 2 to the separator placing device 3.

The bead input mechanism is a conveyor that can transfer the storage unit 2 at the storage waiting position 6 to the storage unit 2 in the direction of arrow a.

The separator output mechanism is a conveying device, and can transfer the separator placing device 3 at the separator placing device 3 to the separator waiting position 7 in the direction of arrow G.

The bead is a skeleton structure for tire production, and is a transmission body in the embodiment.

The bead spacer is a specific device used in the actual production process to individually isolate the beads, and in this embodiment the bead spacer is a disc-shaped device with a positioning structure.

The spacer gripping mechanism is located in the lower part of the gripping device 1 for gripping and fixing the bead spacer third driving mechanism 31.

The third driving mechanism 31 is a multi-stage output, and can stop at a plurality of positions, and the lower portion thereof is connected to the hinge assembly 312, and the third driving mechanism drives the hook 32 to extend and retract by driving the hinge assembly 312 to move.

When in specific use, the tire bead feeding process is as follows:

1) as shown in the structural plan view of fig. 7, the manipulator 5 drives the gripping device 1 to perform gripping and placing work on the tire bead and the tire bead spacer along the path B-C-D-E-B, after the tire bead of the storage device 2 is used up, the spacer output mechanism transfers the spacer at the spacer placing device 3 to the spacer waiting position 7 along the direction of the arrow G, and the manipulator 5 drives the gripping device 1 to transfer the spacer at the storage device 2 to the spacer placing device 3.

2) The manipulator 5 drives the grabbing device 1 to move to the upper portion of the storage device 2 along the path B, the manipulator 5 drives the grabbing device 1 to downwards extend into a storage unit formed by a plurality of tire beads and tire bead clapboards, according to position data recorded in the early stage, the clapboard clamping hook 32 is positioned at the lower portion of the neutral position of the first tire bead clapboard, the third driving mechanism 31 drives the hinge assembly 312 to move, the clapboard clamping hook 32 is driven to extend out, the neutral position of the first tire bead clapboard is extended into, and meanwhile, due to the structure of the clamping hook 32 and the structure of the tire bead clapboards, when the manipulator 5 drives the grabbing device 1 to lift, the clamping hook 32 can grab and transmit the second tire bead clapboard together.

3) The manipulator 5 drives the gripping device 1 to lift and move along the path C, and in the process, the first driving mechanism 24 drives the sliding block 241 through the gear assembly and the transmission screw to drive the first clamping jaw 21 to radially extend out along the first guide rail 25, and finally the first clamping jaw 21 and the second clamping jaw 22 hook the upper layer of tire bead and the lower layer of tire bead.

4) The manipulator 5 drives the grabbing device 1 to move to the upper part of the separator placing device 3 along the path C, and the third driving mechanism 31 drives the hinge assembly 312 to move, so as to drive the separator jaws to retract for a certain distance, so that the lower bead separator is separated from the separator placing device 3.

5) The manipulator 5 continues to drive the gripping device 1 to move along the path D, and in the process, the third driving mechanism 31 drives the hinge assembly 312 to move, so as to drive the separator hook 32 to extend out, support the rest bead separators to prevent the bead separators from twisting or turning over, and meanwhile, the second jaw 22 extends out, and simultaneously takes out the lower beads on the bead separators to separate the bead separators from the lower edges of the rest bead separators.

6) The manipulator 5 continues to drive the gripping device 1 to move to one side of the tire bead mounting device 4 along the path D, and the tire bead preset ring roller are turned over to be parallel to each other so as to perform ring loading action, and the tire bead preset ring roller at the position is a plurality of roller combinations which are arranged in a vertical plane and can radially expand around a certain point. The jaws in the gripping device 1 are radially retracted a certain distance along the first guide 25, eventually causing the bead to be supported by the bead pre-setting ring-supporting rollers. At the same time, the first tire bead does not interfere the upper-circle action of the second tire bead due to the existence of the first tire bead clapboard.

7) The robot 5 continues to move the gripper 1 along the path E, during which the jaws retract.

8) The manipulator 5 drives the grabbing device 1 to move to the upper part of the separator placing device 3 along the path C, the third driving mechanism 31 drives the hinge assembly 312 to move, the separator hook is driven to retract, the upper tire bead separator is separated from the separator placing device 3, meanwhile, the tire bead installing device 4 rotates around the rotating center in a reciprocating mode F, and one side without the tire bead is made to turn to one side of the manipulator 5.

9) The manipulator 5 drives the grabbing device 1 to move to one side of the tire bead installing device 4 along the path D again, the tire bead and the tire bead preset ring roller are enabled to be parallel to each other through overturning, the clamping jaws retract for a certain distance in the radial direction, and finally the first tire bead is supported by the tire bead preset ring roller.

10) In the tire manufacturing process, the steps are circulated, the tire bead is continuously grabbed and looped, and the normal production of the whole tire production equipment is ensured.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.

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

Claims

1. A grasping device, comprising:

a frame (10);

a plurality of bead gripping mechanisms arranged in sequence on the frame (10) along a first preset direction to grip respective beads respectively;

the separator grabbing mechanism is arranged on the rack (10) and used for grabbing the separator for placing the tire bead.

2. Gripping device according to claim 1, wherein the plurality of bead gripping mechanisms comprises a first bead gripping mechanism comprising a plurality of first jaws (21), the plurality of first jaws (21) being arranged around the machine frame (10) and being telescopically movable in a radial direction, and a second bead gripping mechanism comprising a plurality of second jaws (22), the plurality of second jaws (22) being arranged around the machine frame (10) and being telescopically movable in a radial direction, wherein the first predetermined direction is perpendicular to the radial direction.

3. The gripping device according to claim 2, characterized in that a plurality of the second jaws (22) are arranged in a one-to-one correspondence with a plurality of the first jaws (21), wherein the second jaws (22) are movably arranged at the bottom of the first jaws (21).

4. Gripping device according to claim 3, wherein the second bead gripping mechanism further comprises a second drive mechanism (23), the second drive mechanism (23) being arranged on the first gripper (21), the second drive mechanism (23) being in driving connection with the second gripper (22) for driving the second gripper (22) in a movement relative to the first gripper (21).

5. Gripping device according to claim 3, further comprising a first drive mechanism (24), the first drive mechanism (24) being in driving connection with each of the first jaws (21) for simultaneously driving each of the first jaws (21) in movement and bringing each of the second jaws (22) in movement, respectively.

6. The gripping device according to claim 5, further comprising a guide mechanism including a plurality of first guide rails (25), the plurality of first guide rails (25) being disposed around the frame (10) and extending in a direction perpendicular to the first preset direction, wherein a plurality of first claws (21) are disposed on each of the first guide rails (25) in a one-to-one correspondence so as to slide along the first guide rails (25).

7. The grasping apparatus according to claim 1, characterized in that the grasping apparatus further comprises a plurality of detection mechanisms provided in one-to-one correspondence with the plurality of bead grasping mechanisms to detect whether or not the bead is grasped on the bead grasping mechanisms, respectively.

8. Gripping device according to claim 7, wherein the bead gripping mechanism comprises a plurality of jaws arranged around the frame (10) for coupling with different positions of the bead, respectively, wherein the detection mechanism comprises a plurality of detection units (26), a plurality of detection units (26) being arranged on each jaw in a one-to-one correspondence for detecting the presence of the bead on the jaw, respectively.

9. Gripping device according to claim 1, wherein the bead gripping mechanism comprises a plurality of jaws arranged around the frame (10) for connection to different positions of the bead, respectively, wherein the jaws have an extension (211) arranged in the first predetermined direction and a bearing section (212) arranged perpendicular to the first predetermined direction, wherein one end of the bearing section (212) is connected to the extension (211) and the other end of the bearing section (212) is arranged extending towards the outside of the ring-shaped structure enclosed by the plurality of jaws.

10. The grasping apparatus according to claim 1, wherein the grasping apparatus further comprises:

third actuating mechanism (31), third actuating mechanism (31) with the baffle snatchs the mechanism drive and is connected, in order to drive the baffle snatchs the mechanism and follows first predetermined direction removes, wherein, the baffle snatchs the mechanism and follows it snatchs each to have on the first predetermined direction the operating position of baffle, third actuating mechanism (31) drive the baffle snatchs the mechanism and removes in proper order to corresponding operating position in order to snatch the baffle.

11. The grabbing device according to claim 10, wherein the partition grabbing mechanism comprises a plurality of hooks (32), the hooks (32) are disposed around the frame (10) to be connected to different positions of the partition, respectively, wherein the hooks (32) have an elongated section (321) disposed along the first predetermined direction and a supporting section (322) disposed perpendicular to the first predetermined direction, one end of the supporting section (322) is connected to the elongated section (321), and the other end of the supporting section (322) extends toward the outside of the structure surrounded by the hooks (32).

12. A bead feeding apparatus comprising a gripping device (1), a storing device (2), a spacer placing device (3) and a bead mounting device (4), said gripping device (1) being movably arranged between said storing device (2), spacer placing device (3) and bead mounting device (4) to move beads and spacers on said storing device (2) in sequence onto said spacer placing device (3) and said bead mounting device (4), characterized in that said gripping device is a gripping device according to any one of claims 1 to 11.