CN217478469U - Integrative grabbing device and tire assembly line - Google Patents

Abstract

The utility model provides an integrated gripping device and a tire assembly production line, wherein the integrated gripping device comprises a first gripping mechanism and a second gripping mechanism, the first gripping mechanism comprises a support frame, a first driving mechanism and a first gripping assembly, the first driving mechanism and the first gripping assembly are arranged on the support frame, and the first gripping assembly is connected with the driving end of the first driving mechanism; the first grasping assembly includes a plurality of jaws; the second grabbing mechanism is arranged on the supporting frame; the second grabbing mechanism comprises a second grabbing component, the second grabbing component is located between all the clamping jaws and arranged on the same side as the first grabbing component, and the grabbing end of the second grabbing component is inwards concave in the grabbing end of the first grabbing component. The integrative grabbing device of this structure snatchs the backup pad through the second, and the tire is snatched to the first subassembly of snatching to snatch backup pad and tire simultaneously, need not artifical transport backup pad, realize that the automation of backup pad and tire snatchs, reduce personnel working strength and safe risk, degree of automation is high.

Description

Integrative grabbing device and tire assembly line

Technical Field

The utility model relates to a tire assembly auxiliary device technical field, concretely relates to integrative grabbing device and tire assembly production line.

Background

Some vehicles, such as mining dump trucks, have tires mounted on their axles, and then have support plates mounted on the axles. In the existing installation mode of the tire and the supporting plate, a robot is connected with a tire gripping device, the tire gripping device grips the tire and then places the tire on an axle, and a tightening machine is used for tightening a tire nut; the tire assembly is completed by manually carrying and installing the support plate. The supporting plates are heavy in weight, high in manual carrying strength and high in potential safety hazard; the tire grabbing device can only grab the tire, the tire and the supporting plate are grabbed in the process of manual auxiliary operation, and the automation degree is low.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming the tire of the vehicle among the prior art and the defect that the backup pad snatchs the in-process needs artifical auxiliary operation to lead to that working strength is big, the potential safety hazard is high and degree of automation is low to an integrative grabbing device and tire assembly line are provided.

In order to solve the above problems, the present invention provides an integrated gripping device, which includes a first gripping mechanism and a second gripping mechanism, wherein the first gripping mechanism includes a support frame, a first driving mechanism and a first gripping assembly, wherein the first driving mechanism and the first gripping assembly are disposed on the support frame, and the first gripping assembly is connected to a driving end of the first driving mechanism; the first grasping assembly includes a plurality of jaws; the second grabbing mechanism is arranged on the supporting frame; the second grabbing mechanism comprises a second grabbing component, the second grabbing component is located between the clamping jaws and arranged on the same side as the first grabbing component, and the grabbing end of the second grabbing component is inwards concave in the grabbing end of the first grabbing component.

Optionally, in the above-mentioned integrated gripping device, the second gripping assembly includes a first mounting plate and an adsorption assembly, the first mounting plate is connected to the support frame, and the adsorption assembly is disposed on a side of the first mounting plate facing away from the support frame.

Optionally, in the above integrated gripping apparatus, the suction assembly includes a plurality of electromagnets.

Optionally, in the above-mentioned integrated gripping device, the second gripping mechanism further includes a second mounting plate and a second driving mechanism, the second mounting plate is disposed on the support frame, the second driving mechanism is disposed on the second mounting plate or the support frame, and a driving end of the second driving mechanism is connected to the first mounting plate.

Optionally, in the above-mentioned integrated gripping device, a guiding component is disposed between the first mounting plate and the second mounting plate, one end of the guiding component is slidably disposed on the second mounting plate, and the other end of the guiding component is fixedly connected to the first mounting plate.

Optionally, in the above-mentioned integrated gripping device, a buffer assembly is disposed between the second mounting plate and the support frame, one end of the buffer assembly is slidably disposed on the support frame, and the other end of the buffer assembly is fixedly connected to the second mounting plate.

Optionally, in the above-mentioned integrated gripping device, there are two clamping jaws, the two clamping jaws are disposed opposite to each other, and any one of the clamping jaws is slidably disposed on the supporting frame and connected to the driving end of the first driving mechanism.

The utility model provides a tire assembly line, including any one of the above-mentioned integrative grabbing device and robot, integrative grabbing device with all be equipped with the quick change device on the robot.

Optionally, the tire assembling line further comprises a buffer device, and a bearing surface suitable for bearing the integrated gripping device is arranged at the top of the buffer device.

Optionally, in the above tire assembling line, the buffer device includes a buffer frame, a loading plate and a third driving mechanism, the loading plate is arranged in the buffer frame in a liftable manner, the third driving mechanism is arranged on the buffer frame, and a driving end of the third driving mechanism is connected to the loading plate.

The utility model has the advantages of it is following:

1. the utility model provides an integrative grabbing device snatchs the subassembly through the second and snatchs the backup pad, and first subassembly that snatchs the tire to snatch backup pad and tire simultaneously, need not artifical transport backup pad, realize that the backup pad snatchs with the automation of tire, reduce personnel working strength and safe risk, degree of automation is high. The second grabbing component can grab the supporting plates with different specifications and is suitable for automatic grabbing of the supporting plates with different specifications.

2. The adsorption component adsorbs the backup pad and interferes the backup pad laminating on the tire when avoiding the erection bracing board. Adsorption component includes a plurality of electro-magnets, and electro-magnet circular telegram back magnetic force is stable, can stably snatch the backup pad.

3. Be equipped with the direction subassembly between first mounting panel and the second mounting panel to guide first mounting panel steady movement, guarantee the laminating effect of backup pad and tire.

4. Be equipped with the buffering subassembly between second mounting panel and the support frame, the buffering subassembly plays the cushioning effect in the twinkling of an eye that first mounting panel promoted the backup pad contact tire, prevents that the rigidity collision from damaging second actuating mechanism or crashing the backup pad.

5. The utility model provides a tire assembly production line, an integrated gripping device is installed on a robot through a quick-change device, the robot firstly transports the integrated gripping device to a support plate storage position to grip a support plate and then grip a tire; the robot transports the support plate and tires to the vehicle axle assembly location, and the robot assembles the tires onto the axle first and then assembles the support plate to the axle. Carry out the automation of tire and backup pad through the robot and snatch and assemble, at the tire assembly back along with automatic assembly backup pad promptly, assembly efficiency is high, need not the manpower supplementary, reduces personnel working strength and safe risk, and degree of automation is high.

6. The buffer memory device is used for buffering the supporting plate, and the integrated grabbing device is placed on the buffer memory device in a non-working state, so that the occupied space of the tire assembly production line is saved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 shows a schematic view of an integrated gripping device provided in embodiment 1 of the present invention;

FIG. 2 shows a partial enlarged view of portion A of FIG. 1;

fig. 3 is a schematic view illustrating a second grasping mechanism of the integrated grasping apparatus according to embodiment 1 of the present invention;

fig. 4 is a schematic view illustrating an operating state of the integrated gripping device provided in embodiment 1 of the present invention;

fig. 5 is a schematic diagram illustrating a cache device on a tire assembling line according to embodiment 2 of the present invention;

fig. 6 shows a schematic diagram of the cooperation between an integrated gripping device and a buffer device on a tire assembly line provided by embodiment 2 of the present invention.

Description of the reference numerals:

1. a first grasping mechanism; 11. a support frame; 12. a first drive mechanism; 13. a first grasping assembly; 131. a clamping jaw; 2. a second grasping mechanism; 21. a second grasping assembly; 211. a first mounting plate; 22. a second mounting plate; 23. a second drive mechanism; 24. a guide assembly; 25. a buffer assembly; 3. a cache device; 31. a bearing surface; 32. a cache shelf; 33. a carrier plate; 34. a third drive mechanism; 4. and a support plate.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example 1

The utility model provides an integrated gripping device, as shown in fig. 1, which comprises a first gripping mechanism 1 and a second gripping mechanism 2, wherein the first gripping mechanism 1 comprises a support frame 11, a first driving mechanism 12 and a first gripping assembly 13, wherein the first driving mechanism 12 and the first gripping assembly 13 are arranged on the support frame 11, and the first gripping assembly 13 is connected with the driving end of the first driving mechanism 12; the first gripper assembly 13 comprises a plurality of jaws 131; the second grabbing mechanism 2 is arranged on the support frame 11; the second grabbing mechanism 2 comprises a second grabbing component 21, the second grabbing component 21 is located between all the clamping jaws 131 and is arranged on the same side as the first grabbing component 13, and the grabbing end of the second grabbing component 21 is recessed in the grabbing end of the first grabbing component 13.

This integrative grabbing device of structure snatchs subassembly 21 through the second and snatchs backup pad 4, and first subassembly 13 snatchs the tire to snatch backup pad 4 and tire simultaneously, need not artifical transport backup pad 4, realize that the automation of backup pad and tire snatchs, reduce personnel working strength and safe risk, degree of automation is high.

The second grabbing component 21 can grab supporting plates with different specifications and is suitable for automatic grabbing of the supporting plates with different specifications.

Specifically, referring to fig. 2 and 3, the second grabbing component 21 includes a first mounting plate 211 and an adsorption component, the first mounting plate 211 is connected to the support frame 11, the adsorption component is disposed on a surface of the first mounting plate 211 opposite to the support frame 11, and the adsorption component is adapted to adsorb and fix the support plate. Because the grabbing end of the second grabbing component 21 is recessed in the grabbing end of the first grabbing component 13, namely the grabbing end of the first grabbing component 13 is positioned outside the grabbing end of the second grabbing component 21, when grabbing, the tire is grabbed after the supporting plate is grabbed, when installing, the tire is installed on the axle firstly, and then the supporting plate is installed on the axle and the tire. Because the backup pad is platelike, its first face towards the tire need laminate on the tire, when snatching, the second face of adsorption component absorption backup pad, the second face is relative with the first face, and the circumference of backup pad is not snatched, interferes the backup pad when avoiding the installation backup pad and laminates on the tire.

For example, the adsorption assembly includes a plurality of electromagnets (not shown in the drawings) by which the adsorption support plate is stably adsorbed. The electromagnet is stable in magnetic force after being electrified, and the supporting plate can be stably grabbed.

Preferably, referring to fig. 2 and 3, the first supporting plate is in a ring shape, and the shape of the first supporting plate is matched with that of the supporting plate, so that the first supporting plate is stably grabbed, meanwhile, the material of the first supporting plate is saved, the weight of the integrated grabbing device is reduced, and the robot can conveniently carry the integrated grabbing device. A plurality of electromagnets are arranged at equal intervals along the hoop of first backup pad.

Referring to fig. 2 and 3, the second grabbing mechanism 2 further includes a second mounting plate 22 and a second driving mechanism 23, the second mounting plate 22 is disposed on the supporting frame 11, the second driving mechanism 23 is disposed on the second mounting plate 22 or the supporting frame 11, and a driving end of the second driving mechanism 23 is connected to the first mounting plate 211. When the supporting plate is installed, the second driving mechanism 23 drives the first mounting plate 211 to move back to the supporting frame 11 so as to push the supporting plate to the installation position, the installation of the supporting plate is completed, and the second driving mechanism 23 drives the first mounting plate 211 to reset. Alternatively, both the first drive mechanism 12 and the second drive mechanism 23 are air cylinders.

Optionally, two second driving mechanisms 23 are provided, two second driving mechanisms 23 are fixed on two sides of the second mounting plate 22, and the driving end of the second driving mechanism 23 extends downwards to be connected with the first mounting plate 211 (not shown in the figure) so as to drive the mounting plates to move smoothly from two sides. The second mounting panel 22 can be promoted backward in the twinkling of an eye of backup pad contact tire, and second actuating mechanism 23 is fixed on second mounting panel 22, and second actuating mechanism 23 can be along with second mounting panel 22 moving as a whole, avoids second actuating mechanism 23 to receive the impact force to damage, extension second actuating mechanism 23 life.

Preferably, be equipped with direction subassembly 24 between first mounting panel 211 and the second mounting panel 22, on second mounting panel 22 was located to direction subassembly 24 one end slidable, the first mounting panel 211 of other end fixed connection to guide the steady movement of first mounting panel 211, guarantee the laminating effect of backup pad and tire. For example, the guide assembly 24 includes a plurality of first guide posts, first linear bearings are fixedly disposed at four corners of the second mounting plate 22, the number of the first linear bearings corresponds to the number of the first guide posts, the lower ends of the first guide posts are fixed on the first mounting plate 211, and the upper ends of the first guide posts are slidably disposed in the first linear bearings. A limiting block is fixedly arranged at the top end of each first guide post, and the length of the limiting block is larger than the inner hole of the first linear bearing so as to limit the first guide post and prevent the first guide post from sliding out of the first linear bearing. Optionally, four first guide posts are provided, and the four first guide posts are arranged at equal intervals along the circumferential direction of the first mounting plate 211.

Referring to fig. 2 and 3, a buffer assembly 25 is disposed between the second mounting plate 22 and the support frame 11, one end of the buffer assembly 25 is slidably disposed on the support frame 11, and the other end is fixedly connected to the second mounting plate 22. The buffer assembly 25 plays a role in buffering at the moment when the first mounting plate 211 pushes the support plate to contact the tire, preventing the second driving mechanism 23 from being damaged by rigid collision or the support plate from being damaged by collision. For example, the buffering assembly 25 includes a plurality of connection posts, a fixing plate is disposed on the supporting frame 11, a second linear bearing is disposed on the fixing plate, the upper ends of the connection posts are slidably disposed in the second linear bearing, the lower ends of the connection posts are fixed on the second mounting plate 22, and a limiting circular truncated cone is disposed at the top of each connection post. The spliced pole is overlapped and is equipped with the rectangle spring, and the both ends of rectangle spring butt second linear bearing and second mounting panel 22 respectively. Optionally, there are four connecting columns.

Referring to fig. 1, two clamping jaws 131 of the first gripping mechanism 1 are provided, the two clamping jaws 131 are arranged oppositely, any one clamping jaw 131 is slidably arranged on the support frame and connected to the driving end of the first driving mechanism 12, and the first driving mechanism 12 drives the clamping jaw 131 to move so as to adjust the clamping distance between the two clamping jaws 131 and adapt to gripping of tires with different sizes. Specifically, each clamping jaw 131 comprises a sliding plate and clamping parts arranged at two ends of the sliding plate, sliding blocks are fixedly arranged at two ends of the top of the sliding plate, guide rails are arranged on two sides of the bottom of the support frame 11, and the sliding blocks are in sliding fit on the guide rails. The clamping part extends outwards, and the periphery of one side of the clamping part, which is far away from the sliding plate, is provided with a thread structure so as to increase the friction force between the clamping part and the tire and ensure the stable clamping of the tire.

As a first alternative of embodiment 1, the number of the clamping jaws 131 of the first gripping assembly 13 may also be three or more.

As a second alternative to example 1, the suction assembly may further comprise a plurality of suction cups. The second snatchs subassembly 21 still can be for multi-jaw clamping jaw 131, and multi-jaw clamping jaw 131 snatchs the backup pad along circumference, and the tip of multi-jaw clamping jaw 131 does not stretch out the one side of backup pad orientation tire, avoids interfering on the backup pad laminating can to the tire.

Example 2

The embodiment provides a tire assembling line, which comprises an integrated gripping device and a robot in embodiment 1, wherein the integrated gripping device and the robot are respectively provided with a quick-change device.

The integrated gripping device is arranged on the robot through the quick-change device, the robot firstly conveys the integrated gripping device to the storage position of the support plate to grip the support plate 4 and then grips the tire; the robot transports the support plate and tires to the vehicle axle assembly location, and the robot assembles the tires onto the axle first and then assembles the support plate to the axle. Carry out the automation of tire and backup pad through the robot and snatch and assemble, at the tire assembly back along with automatic assembly backup pad promptly, assembly efficiency is high, need not the manpower supplementary, reduces personnel working strength and safe risk, and degree of automation is high.

Optionally, the quick change device is a quick change disc.

The second grabbing component 21 can grab supporting plates with different specifications and is suitable for automatic grabbing and automatic assembly of the supporting plates with different specifications. The tire assembly production line also comprises a walking ground rail, and the robot is configured with the walking ground rail to adapt to the automatic assembly of the tires and the supporting plates of vehicles with different wheelbases and different axle numbers. For example, a tire assembly line may be used for automated assembly of mining dump truck tires and support plates.

Referring to fig. 5 and 6, the tyre assembling line further comprises a buffer device 3, and the top of the buffer device 3 is provided with a bearing surface 31 suitable for bearing the integrated gripping device. The buffer memory device 3 is used for buffering the supporting plate, and the integrated grabbing device is placed on the buffer memory device 3 in a non-working state, so that the occupied space of the tire assembly production line is saved.

Specifically, the cache device 3 includes a cache frame 32, a loading plate 33 and a third driving mechanism 34, the loading plate 33 is disposed in the cache frame 32 in a liftable manner, and the third driving mechanism 34 is disposed on the cache frame 32 and has a driving end connected to the loading plate 33. The supporting plate is placed on the bearing plate 33, and when the integrated grabbing device grabs the supporting plate, the bearing plate 33 of the third driving mechanism 34 ascends to drive the supporting plate to ascend, so that the supporting plate is close to the electromagnet to be convenient for the electromagnet to adsorb. The support plate is grabbed and the third driving mechanism 34 drives the carrier plate 33 to reset. The third driving mechanism 34 is, for example, an air cylinder.

Optionally, a supporting beam is erected on the frame at the bottom of the buffer frame 32, and the bearing plate 33 is arranged on the supporting beam in a lifting manner. The buffer device 3 further comprises a plurality of second guide posts, one end of each second guide post is fixedly connected with the bearing plate 33, and the other end of each second guide post is slidably arranged on the support beam to guide the bearing plate 33 to stably lift. The loading board 33 is circular ring-shaped, and its top hoop is equipped with a plurality of reference columns, and the mounting hole of backup pad is worn to establish on the reference column with stably keeping on loading board 33, can deposit a plurality of backup pads. The robot transports the integrated grabbing device to the caching device 3 to grab the supporting plate.

According to the above description, the utility model has the following advantages:

1. the first grabbing mechanism 1 and the second grabbing mechanism 2 are integrally designed, and can grab the tire and the supporting plate 4 at the same time.

2. The integrated gripping device is matched with a robot for use, and the supporting plate is automatically assembled while the tires are automatically assembled, so that the assembling rhythm is improved.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (10)

1. An integrated gripping device, comprising:

the first grabbing mechanism (1) comprises a support frame (11), a first driving mechanism (12) and a first grabbing component (13), wherein the first driving mechanism (12) and the first grabbing component (13) are arranged on the support frame (11), and the first grabbing component (13) is connected with the driving end of the first driving mechanism (12); the first gripping assembly (13) comprises a plurality of gripping jaws (131);

the second grabbing mechanism (2) is arranged on the supporting frame (11); the second grabbing mechanism (2) comprises a second grabbing component (21), the second grabbing component (21) is located between the clamping jaws (131) and arranged on the same side of the first grabbing component (13), and the grabbing end of the second grabbing component (21) is inwards concave at the grabbing end of the first grabbing component (13).

2. The integrated gripping device according to claim 1, wherein the second gripping member (21) comprises a first mounting plate (211) and a suction member, the first mounting plate (211) is connected to the support frame (11), and the suction member is disposed on a surface of the first mounting plate (211) facing away from the support frame (11).

3. The integrated gripping apparatus according to claim 2, wherein the suction assembly includes a plurality of electromagnets.

4. The integrated gripping device according to claim 2 or 3, wherein the second gripping mechanism (2) further comprises a second mounting plate (22) and a second driving mechanism (23), the second mounting plate (22) is arranged on the support frame (11), the second driving mechanism (23) is arranged on the second mounting plate (22) or the support frame (11), and the driving end of the second driving mechanism (23) is connected with the first mounting plate (211).

5. The integrated gripping device according to claim 4, wherein a guiding component (24) is arranged between the first mounting plate (211) and the second mounting plate (22), one end of the guiding component (24) is slidably arranged on the second mounting plate (22), and the other end is fixedly connected with the first mounting plate (211).

6. The integrated grabbing device according to claim 4, wherein a buffer assembly (25) is disposed between the second mounting plate (22) and the supporting frame (11), one end of the buffer assembly (25) is slidably disposed on the supporting frame (11), and the other end is fixedly connected to the second mounting plate (22).

7. The integrated gripping device according to any one of claims 1 to 3, wherein the gripping jaws (131) are provided in two, the two gripping jaws (131) are arranged oppositely, and any one of the gripping jaws (131) is slidably arranged on the support frame and connected with the driving end of the first driving mechanism (12).

8. A tyre assembling line, characterized in that it comprises an integrated gripping device according to any one of claims 1 to 7 and a robot, both of which are provided with quick-change devices.

9. The tyre assembling line according to claim 8, further comprising a buffer device (3), wherein the top of said buffer device (3) is provided with a bearing surface (31) suitable for bearing said integral gripping device.

10. The tyre assembling line according to claim 9, wherein the buffer device (3) comprises a buffer frame (32), a carrying plate (33) and a third driving mechanism (34), the carrying plate (33) is arranged in the buffer frame (32) in a lifting manner, and the third driving mechanism (34) is arranged on the buffer frame (32) and is connected with the carrying plate (33) at the driving end.

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