CN218464886U

CN218464886U - Grabbing device and conveying trolley

Info

Publication number: CN218464886U
Application number: CN202222370918.8U
Authority: CN
Inventors: 华正浩; 祝洪文; 孙乙帮
Original assignee: Safe Run Intelligent Equipment Co Ltd
Current assignee: Safe Run Intelligent Equipment Co Ltd
Priority date: 2022-09-07
Filing date: 2022-09-07
Publication date: 2023-02-10
Anticipated expiration: 2032-09-07

Abstract

The utility model discloses a grabbing device, include: the mounting plate is horizontally arranged and provided with a central through hole; the actuating mechanism sets up in the upside of mounting panel, includes: the driving assembly and the driving rod are connected with the driving assembly; tongs mechanism sets up in the downside of mounting panel, includes: the gripper connecting seat, the central connecting rod, the plurality of clamping rods and the supporting frame are fixed on the lower side of the mounting plate, the plurality of clamping rods are sequentially arranged around the central connecting rod at intervals, the supporting frame is connected with the gripper connecting seat, the central connecting rod and the plurality of clamping rods, and the central connecting rod and the clamping rods are vertically arranged; the supporting frame comprises a plurality of main supporting arms and a plurality of auxiliary supporting arms, each main supporting arm comprises an upper supporting arm and a lower supporting arm, one end of each upper supporting arm and one end of each lower supporting arm are hinged with the central connecting rod, the other end of each upper supporting arm and the other end of each lower supporting arm are hinged with the clamping rod, one end of each auxiliary supporting arm is hinged with the gripper connecting seat, and the other end of each auxiliary supporting arm is hinged with the upper supporting arm; the driving rod passes through the central through hole and is connected with the central connecting rod. The utility model provides a grabbing device guarantees the product quality.

Description

Grabbing device and conveying trolley

Technical Field

The utility model relates to a conveyer technical field, in particular to grabbing device and travelling bogie.

Background

The self-propelled trolley conveying system EMS comprises a conveying track and a conveying trolley capable of reciprocating along the conveying track, namely: EMS dolly, EMS dolly walk the in-process on transfer orbit and transport the goods inside the workshop or inside the intelligent warehouse to carry the goods to the assigned position, for example: and in the tire blank warehouse, conveying the tire blank to a specified storage position through an EMS trolley.

Chinese patent CN 107758259A discloses a transportation trolley and EMS transportation system, a clamping mechanism is disposed on the transportation trolley for clamping tires, the clamping mechanism includes a plurality of clamping rods, a clamping driver, a driving rod, a connecting rod, a first assembly tray and a second assembly tray, one end of the driving rod is connected with one end of the clamping driver, the other end passes through the first assembly tray and is connected to the second assembly tray, one end of the clamping rod is pivoted to the bottom of the first assembly tray and the other end extends to one side of the transported object, the middle region of the clamping rod is pivoted to the second assembly tray through the connecting rod, and is uniformly distributed on the periphery of the second assembly tray; the clamping rod is in a long strip shape with radian, and the cambered surface of the radian faces the direction of the driving rod. The clamping rods extend out or retract under the driving of the clamping driver so as to grab the tire.

However, the above structure has the following problems:

(1) The output shaft of the driving motor is connected with the cam mechanism, there is no other support, the load produces additional radial force and torsion taking the central line of the connecting position of the cam arm and the motor shaft as the axis besides producing the torsion around the shaft center of the motor shaft which needs to finish effective action to the motor shaft, because there is no other support, the radial force and the torsion are born by the motor completely, and the movement is frequent here, long this past, the service life of the motor will be influenced;

(2) The motor drives a plurality of supporting rods and stretches out and draws back, decline after the free end shrink of a plurality of supporting rods gets into in the centre gripping space of tire, a plurality of supporting rods stretch out the back and prop up the tire, but the angle that the free end stretches out and the position that contacts with the tire can follow the difference of different specification tires and be different, therefore will uncontrollable lead to the fact the supporting rod and the inner wall contact of side wall, promote or carry the damage that leads to the fact side wall inner wall in the motion process, and this damage is difficult to discover, if arrange corresponding detection after this flow and will cause a large amount of cost of labor extravagant, reduce production efficiency, if do not in time discover will take the problem to follow-up process, cause the influence to the quality and the qualification rate of product.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model aims at providing a grabbing device and travelling bogie reduce the wearing and tearing of tongs to the product, prolong the life of motor.

Based on the above problem, the utility model provides an one of the technical scheme is:

a grasping apparatus for grasping an object to be taken from inside, comprising:

the mounting plate is horizontally arranged and provided with a central through hole;

a drive mechanism disposed on an upper side of the mounting plate, comprising: the driving mechanism comprises a driving assembly and a driving rod connected with the driving assembly;

tongs mechanism, it set up in the downside of mounting panel includes: the gripper connecting seat, the central connecting rod, the plurality of clamping rods and the supporting frame are fixed on the lower side of the mounting plate, the plurality of clamping rods are sequentially arranged around the central connecting rod at intervals, the supporting frame is connected with the gripper connecting seat, the central connecting rod and the plurality of clamping rods, and the central connecting rod and the clamping rods are vertically arranged;

the supporting frame comprises a plurality of main supporting arms and a plurality of auxiliary supporting arms, the main supporting arms comprise upper supporting arms and lower supporting arms, one ends of the upper supporting arms and the lower supporting arms are hinged with the central connecting rod, the other ends of the upper supporting arms and the lower supporting arms are hinged with the clamping rods, one ends of the auxiliary supporting arms are hinged with the hand grip connecting seat, and the other ends of the auxiliary supporting arms are hinged with the upper supporting arms;

the driving rod penetrates through the central through hole to be connected with the central connecting rod, the driving assembly drives the central connecting rod to vertically move under the driving of the driving assembly, and then the supporting frame drives the clamping rods to horizontally move so as to clamp or release objects to be taken.

In one embodiment, the driving assembly includes a first support and a second support oppositely disposed around the central through hole, a driving motor mounted on the first support, a first cam arm mounted on a power output end of the driving motor, and a second cam arm rotatably disposed on the second support and matched with the first cam arm, and the driving rod is hinged with the first cam arm and the second cam arm.

In one embodiment, under the action of the first cam arm and the second cam arm, the driving rod has a highest point and a lowest point in a rotation plane;

when the object is at the lowest point, the clamping rod is in a contracted state in the horizontal direction and is used for releasing the object to be taken;

and when the highest point is located, the clamping rods are in an expanded state in the horizontal direction and are used for clamping the object to be taken.

In one embodiment, the number of the upper support arms, the lower support arms and the auxiliary support arms is the same as the number of the clamping rods.

In one embodiment, the central connecting rod is provided with a first hinged seat and a second hinged seat which are arranged up and down, the first hinged seat is provided with a plurality of first hinged lugs matched with the plurality of upper supporting arms, and the second hinged seat is provided with a plurality of second hinged lugs matched with the plurality of lower supporting arms.

In one embodiment, a third hinge seat is arranged on the hand grip connecting seat, and a plurality of third hinge lugs matched with the plurality of secondary support arms are arranged on the third hinge seat.

In one embodiment, the secondary support arm includes two support tabs disposed on either side of the upper support arm.

In one embodiment, the clamping bar comprises a first bar section extending in a vertical direction and a second bar section arranged at a lower end of the first bar section, the second bar section extending from the first bar section to a side remote from the center link.

Based on the above problem, the utility model provides a second of technical scheme:

the utility model provides a conveying trolley, includes the frame and locates running gear, elevating gear on the frame to and foretell grabbing device, elevating gear passes through the lift area and connects grabbing device.

Compared with the prior art, the utility model has the advantages that:

1. the gripper is driven by the lifting mechanism to enter the tire blank sub-opening after being contracted, the gripper supports the tire blank sub-opening after being stretched, and the structure of the gripper mechanism can ensure that the gripper always moves perpendicular to the plane where the sub-opening is located, and the angle is fixed, so that even if the tire blank specifications are different, the contact position of the gripper and the tire blank sub-opening is relatively fixed, the sub-opening is only supported on the outer ring, and the inner wall of the tire side cannot be contacted, and the problem of inner wall damage is solved;

2. the single-arm driving in the prior art is changed into a double-arm parallel driving mechanism, and the two cam arms which are oppositely arranged are arranged, so that the radial force born by the motor shaft is shared, the torsion which is ineffective to the effective movement and takes the central line of the connecting position of the cam arms and the motor shaft as the axis is eliminated, the movement stability of the cam mechanism is improved, and the service life of the motor can be prolonged.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of an embodiment of a gripping device of the present invention;

fig. 2 is a schematic structural diagram of a gripper mechanism according to an embodiment of the present invention;

fig. 3 is a schematic structural view of the gripper mechanism in a retracted state according to an embodiment of the present invention;

fig. 4 is a schematic structural view of the gripper mechanism in an extended state according to an embodiment of the present invention;

FIG. 5 is a schematic structural view illustrating a tire gripping device according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a conveying cart according to an embodiment of the present invention;

wherein:

1. mounting a plate;

2. a drive mechanism; 2-1, a first support; 2-2, driving a motor; 2-3, a first cam arm; 2-4, a second support; 2-5, a second cam arm; 2-6, a driving rod;

3. a gripper mechanism; 3-1, connecting the gripper; 3-2, a central connecting rod; 3-3, clamping rods; 3-3a, a first pole segment; 3-3b, a second pole segment; 3-4, an upper support arm; 3-5, a lower support arm; 3-6, an auxiliary supporting arm; 3-6a, a support sheet; 3-7, a first hinge base; 3-8, a second hinge base; 3-9, a third hinge base;

4. lifting the belt;

5. positioning seats;

6. a knuckle bearing;

7. 7-1 parts of tire blanks and tire blank seam allowance;

8. a frame;

9. a lifting device;

10. a walking device.

Detailed Description

The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present invention. The conditions used in the examples may be further adjusted according to the conditions of the particular manufacturer, and the conditions not specified are generally conditions used in routine experiments.

Referring to fig. 1, for the structural schematic diagram of the embodiment of the present invention, a gripping device is provided, including a mounting plate 1, and a gripper mechanism 3 and a driving mechanism 2 installed on the mounting plate 1, wherein the mounting plate 1 is horizontally disposed, the gripper mechanism 3 is located at the lower side of the mounting plate 1, the driving mechanism 3 is located at the upper side of the mounting plate 1 and is in transmission connection with the gripper mechanism 3, the gripper mechanism 3 is driven by the driving mechanism 3 to extend or contract along the horizontal direction to clamp or release the object to be taken, in this example, the object to be taken is a tire blank 7.

As shown in fig. 1, the mounting plate 1 is provided with a central through hole for transmission connection between the driving mechanism 2 and the gripper mechanism 3.

The driving mechanism 2 comprises a driving assembly and a driving rod 2-6 connected with the driving assembly, the driving rod 2-6 extends into the central through hole on the mounting plate 1 and then is connected with the gripper mechanism 3, the driving assembly comprises a first support 2-1 and a second support 2-4 which are oppositely arranged around the central through hole, a driving motor 2-2 arranged on the first support 2-1, a first cam arm 2-3 arranged at the power output end of the driving motor 2-2 and a second cam arm 2-5 which is rotatably arranged on the second support 2-4 and matched with the first cam arm 2-3, and the driving rod 2-6 is hinged with the first cam arm 2-3 and the second cam arm 2-5. The first cam arm 2-3 and the second cam arm 2-5 are driven to rotate by the driving motor 2-2 so as to drive the driving rod 2-6 to move up and down, and therefore the gripper mechanism 3 is driven to extend or retract. Two ends of the driving rods 2-6 are respectively provided with a joint bearing 6 to be connected with the cam arm and the gripper mechanism 3.

The support and the cam arm are additionally arranged on the opposite side of the driving motor 2-2, the cam mechanism is changed from a single-arm structure into a double-arm structure, radial force borne by a motor shaft can be shared, torsion with the central line of the connecting position of the cam arm and the motor shaft as an axis is eliminated, the motion stability of the cam mechanism is improved, and the service life of the motor is prolonged.

As shown in fig. 2, the gripper mechanism 3 includes a gripper connecting seat 3-1 fixed at the lower end of the mounting plate 1, a central connecting rod 3-2, a plurality of clamping rods 3-3 sequentially arranged around the central connecting rod 3-2 at intervals, and a supporting frame connecting the gripper connecting seat 3-1, the central connecting rod 3-2 and the plurality of clamping rods 3-3, wherein the central connecting rod 3-2 and the clamping rods 3-3 are both vertically arranged. The driving rod 2-6 is connected with the upper end of the central connecting rod 3-2 through a joint bearing 6.

The supporting frame comprises a plurality of main supporting arms and a plurality of auxiliary supporting arms 3-6, the main supporting arms comprise upper supporting arms 3-4 and lower supporting arms 3-5, one ends of the upper supporting arms 3-4 and the lower supporting arms 3-5 are hinged with the central connecting rod 3-2, the other ends of the upper supporting arms 3-4 and the lower supporting arms 3-5 are hinged with the clamping rods 3-3, one ends of the auxiliary supporting arms 3-6 are hinged with the gripper connecting seat 3-1, and the other ends of the auxiliary supporting arms 3-6 are hinged with the upper supporting arms 3-4.

In order to facilitate the installation of the support frame, a first hinged seat 3-7 and a second hinged seat 3-8 which are arranged up and down are arranged on the central connecting rod 3-2, a plurality of first hinged lugs matched with the plurality of upper support arms 3-4 are arranged on the first hinged seat 3-7, and a plurality of second hinged lugs matched with the plurality of lower support arms 3-5 are arranged on the second hinged seat 3-8.

A third cross connecting seat 3-9 is arranged on the gripper connecting seat 3-1, and a plurality of third hinge lugs matched with the auxiliary supporting arms 3-6 are arranged on the third hinge connecting seat 3-9. In this example, the secondary support arm 3-6 comprises two support tabs 3-6a arranged on either side of the upper support arm 3-4, the two support tabs 3-6a being pivotally pinned to the third hinge lug by means of pin shafts.

In this example, the gripping shank 3-3 comprises a first shank segment 3-3a extending in a vertical direction and a second shank segment 3-3b arranged at the lower end of the first shank segment 3-3a, the second shank segment 3-3b extending from the first shank segment 3-3a to a side remote from the central link 3-2.

The structure of the gripper mechanism 3 is matched with the driving mechanism 2, so that the clamping rods 3-3 always run perpendicular to the plane of the tire blank sub-opening 7-1, the angle is fixed, even if the specifications of the tire blank 7 are different, the contact positions of the clamping rods 3-3 and the tire blank sub-opening 7-1 are relatively fixed, the tire blank sub-opening 7-1 is only propped open at the outer ring of the tire blank 7, the tire blank sub-opening cannot contact the inner wall of the tire side, and the abrasion of the clamping rods 3-3 to the inner wall of the tire side in the grabbing process is reduced.

The gripping device in this example is mounted on a transport trolley, which comprises a frame 8, a traveling device 10 and a lifting device 9, which are arranged on the frame, the lifting device 9 being connected to the gripping device to drive the gripper mechanism 3 to approach or leave the gripped object.

The lifting device 9 can adopt a structure in the prior art, for example, a lifting motor and a lifting wheel set can be installed on the conveying trolley, the lifting wheel set is in transmission connection with the lifting motor, the lifting wheel set is connected with the mounting plate 3-1 through the lifting belt 4, and the lifting wheel set is driven by the lifting motor to rotate so as to drive the lifting belt 4 to lift, thereby driving the mounting plate 3-1 to lift, and further driving the gripper mechanism 3 to lift.

In order to realize the positioning of the gripping device, a positioning seat 5 is arranged at the upper end of the mounting plate 3-1, a positioning hole matched with the positioning seat 5 is formed in a frame 8 of the conveying trolley, and the positioning of the gripping device is realized through the matching of the positioning seat 5 and the positioning hole.

The utility model discloses a theory of operation does:

when the driving motor 2-2 rotates, the first cam arm 2-3 and the second cam arm 2-5 are driven to rotate around the axis of the output shaft of the motor, the first cam arm 2-3 and the second cam arm 2-5 rotate to drive the driving rod 2-6 to move, the driving rod 2-6 drives the central connecting rod 3-2 to move up and down, and the up and down movement of the central connecting rod 3-2 drives the upper supporting arm 3-4, the lower supporting arm 3-5 and the auxiliary supporting arm 3-6 to drive the clamping rod 3-3 to extend and contract.

With reference to fig. 4 and 5, when a tire blank 7 is grabbed, the lifting device 9 drives the mounting plate 1 to move downwards through the lifting belt 4, the front ends of the clamping rods 3-3 pass through a tire blank sub-opening 7-1 and extend into the tire blank 7, the driving mechanism 2 drives the central connecting rod 3-2 to move upwards, the central connecting rod 3-2 drives the upper supporting arm 3-4, the lower supporting arm 3-5 and the auxiliary supporting arm 3-6 to move so that the clamping rods 3-3 extend to support the tire blank sub-opening 7-1, grabbing is completed, and the clamping rods 3-3 are always perpendicular to the horizontal plane when moving.

With reference to fig. 3 and 5, when the tire blank 7 is placed, the lifting device 9 drives the mounting plate 3-1 to move upwards through the lifting belt 4, the driving motor 2-2 rotates reversely, the driving mechanism 2 drives the central connecting rod 3-2 to move downwards, the clamping rods 3-3 contract, the diameter of the circle where the outermost circle of the clamping rods 3-3 is located is smaller than that of the tire blank sub-opening 7-1, the tire blank 7 loses the support of the gripper mechanism 3, and the placement of the tire blank 7 is completed.

The driving motor can automatically adjust the stretching size of the hand grip according to the size difference of the tire seam allowance, so that the tire seam allowance is kept in an initial state as much as possible, and the tire seam allowance is prevented from being subjected to excessive force by setting the size of the moment, so that the condition that the tire seam allowance is expanded or damaged is avoided; in addition, when the hand grip is stretched, the central axis of the hand grip is always vertical to the horizontal plane, so that even if the tire specifications are different and the sizes of tire sub-openings are different, the contact position of the hand grip and the tire sub-opening is relatively fixed, the corresponding bearing capacity is provided only by contacting the tire sub-opening through the bent part at the front end of the hand grip, and the problem that the front end of the hand grip is too deep into the tire blank and the bent part contacts the inner wall of the tire wall due to the stretching angle of the hand grip is solved, the tire blank is damaged, and the quality problem of the tire blank is reduced.

To sum up, change single arm drive into both arms drive, optimize the structure of tongs mechanism simultaneously, can improve the stability of tongs, avoid the tongs to the damage of the side wall inner wall of tire child embryo, guarantee the quality of product, can prolong the life of motor simultaneously.

The above-mentioned embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and the protection scope of the present invention cannot be limited thereby. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. A grasping apparatus for grasping an object to be taken from inside, comprising:

a drive mechanism disposed on an upper side of the mounting plate, including: the driving mechanism comprises a driving assembly and a driving rod connected with the driving assembly;

2. The grasping apparatus according to claim 1, wherein: the driving assembly comprises a first support and a second support which are oppositely arranged around the central through hole, a driving motor arranged on the first support, a first cam arm arranged at the power output end of the driving motor, and a second cam arm which is rotatably arranged on the second support and matched with the first cam arm, wherein the driving rod is hinged with the first cam arm and the second cam arm.

3. The grasping apparatus according to claim 2, wherein: under the action of the first cam arm and the second cam arm, the driving rod has a highest point position and a lowest point position in a rotating plane;

4. The grasping apparatus according to claim 1, wherein: the number of the upper supporting arms, the lower supporting arms and the auxiliary supporting arms is consistent with that of the clamping rods.

5. The grasping apparatus according to claim 1, wherein: the articulated seat of first articulated seat and second that arranges about being equipped with on the central connecting rod, be equipped with on the first articulated seat with a plurality of first articulated ears that the support arm matches on a plurality of, be equipped with on the articulated seat of second with a plurality of articulated ears of second that the support arm matches.

6. The grasping apparatus according to claim 5, wherein: and a third hinge seat is arranged on the gripper connecting seat, and a plurality of third hinge lugs matched with the auxiliary supporting arms are arranged on the third hinge seat.

7. The grasping apparatus according to claim 6, wherein: the secondary support arm includes two support tabs disposed on either side of the upper support arm.

8. The grasping apparatus according to claim 1, wherein: the clamping rod comprises a first rod section extending along the vertical direction and a second rod section arranged at the lower end of the first rod section, and the second rod section extends from the first rod section to one side far away from the central connecting rod.

9. A conveying trolley is characterized in that: the lifting device is connected with the grabbing device through a lifting belt.