WO2018103682A1

WO2018103682A1 - Device for automatically gripping steel rim and gripping method

Info

Publication number: WO2018103682A1
Application number: PCT/CN2017/114933
Authority: WO
Inventors: 马双华; 刘智; 张建国
Original assignee: 萨驰华辰机械(苏州)有限公司
Priority date: 2016-12-07
Filing date: 2017-12-07
Publication date: 2018-06-14
Also published as: CN106514186B; CN106514186A

Abstract

Disclosed is a device (100) for automatically gripping a steel rim. The device comprises: a base assembly (10); a gripping arm assembly (20); a gripping and moving mechanism (30); a separation mechanism (40) comprising a stop block (41) radially extending and retracting towards spacing plates (210), so that when the gripping and moving mechanism (30) drives a group of spacing plates (210) and a steel rim (200) to move integrally, the stop block (41) extends out and abuts against inside portions of the spacing plates (210), so that the spacing plates (210) are symmetrically turned over while the steel rim (200) remains unchanged, thus forming gaps between the spacing plates (210) and the steel rim (200); and a buckling mechanism (50) comprising at least two symmetrically arranged buckling blocks (51) radially moving along the spacing plates (210), each of the buckling blocks (51) being provided with a plurality of buckling grooves (511) arranged at intervals. After the gaps between the spacing plates (210) and the steel rim (200) are formed, all the buckling blocks (51) are buckled on an inner edge of the steel rim (200) and drive the steel rim (200) to move away from the spacing plates (210), thereby completing automatic gripping of the steel rim (200).

Description

Steel ring automatic grabbing device and grabbing method

Technical field

The present disclosure belongs to the technical field of rubber tire molding machinery, and relates to, for example, a steel ring automatic grasping device and a grasping method.

Background technique

In the tire manufacturing process, the semi-finished rubber compound and the steel ring are first assembled into a green tire by using a tire forming machine, and the steel ring needs to be grasped and matched to the carcass. The grasping method in the related art mainly involves manually grasping the steel ring. In this way, the upper loop is slow, unable to adapt to automated work, and the production efficiency is not high. There is also an automatic grab ring system in the related art, but the steel ring and the steel ring are stacked, and a tray is arranged between the two steel rings, which makes the difficulty of the grab ring increase and easily breaks the adjacent steel ring.

A device for automatically grasping a steel ring also appears in the related art, but the device is usually directed to a steel ring that is suspended, and the steel ring is easily deformed by gravity, thereby reducing the quality of the tire.

Summary of the invention

The present disclosure provides a device for automatically grasping a steel ring, which solves the problem that the steel ring needs to be manually taken and put in the tire assembly process, improves the production efficiency of the tire, reduces the manufacturing cost, and reduces the work intensity of the worker.

A steel ring automatic grasping device for grasping a laminated steel ring placed on a supporting mechanism, and a spacer disk is arranged between any two adjacent steel rings, and the spacer disk is convex outward from the central portion a flexible annular member, the surface of the steel ring being attached to the surface portion of the spacer, comprising:

Base assembly

Grasping the arm assembly, comprising a grabbing arm and a first driving source for driving the gripping arm to move up and down, the gripping arm being disposed on the base assembly;

Grasping a moving mechanism, disposed on a lower side of the grabbing arm, acting upwardly on an outer position of the spacer disc to drive the spacer disc and the steel ring away from the supporting mechanism;

a separating mechanism comprising a blocking block and a second driving source for driving the blocking block to radially expand and contract along the spacer disk, and driving by the grasping moving mechanism to drive the spacer disk and the steel ring away from the supporting mechanism The blocking block abuts against an inner position of the spacer disk, so that the spacer disk is symmetrically folded, and a gap is formed at a protruding portion of the spacer disk and the steel ring;

The fastening mechanism includes at least two symmetrically disposed latching blocks and a third driving source for driving each of the latching blocks to move radially along the spacer disc, and each of the latching blocks is provided with a plurality of latching slots at intervals After the spacer disc and the steel ring form a gap at the protruding portion, the inner edge of the steel ring is buckled by driving each of the fastening blocks;

Detecting an identification component, configured to identify whether the steel ring is at a preset position, and detecting a speed, time, and position parameter of the driving source, and transmitting a corresponding detection signal;

The control module controls the automatic lifting device of the steel ring to start according to the received detection signal.

Optionally, the gripping arm assembly further includes a fixing bracket disposed on a lower side of the gripping arm, the gripping movement mechanism including at least two symmetrically disposed suction assemblies disposed on the fixing bracket, The suction assembly acts on an outer position of the spacer disk and can move the spacer disk and the steel ring in a direction away from the support mechanism.

Optionally, the suction assembly comprises a vacuum chuck, a gas source, and an air conduit.

Optionally, the suction assembly is a controllable electromagnet.

Optionally, the grasping movement mechanism further comprises at least two symmetrically disposed gripping assemblies disposed on a side of the suction assembly, the gripping assembly comprising a hook disposed on the mounting bracket, driving a fourth driving source of the hook telescopically extending in a direction perpendicular to the movement of the grasping moving mechanism, the length of the hook protruding from the fixing bracket is larger than the suction assembly protruding from the fixing frame length.

Optionally, the detection and recognition component includes a light source disposed on the holder and an image acquisition component.

Optionally, a first rail assembly is disposed between the lower end of the grab arm and the mount, the first rail assembly includes a first slide rail and a first slider matched with the first slide rail An adjustment frame is disposed on the first slider.

Optionally, the base assembly includes a base rod and a beam disposed on a top of the base rod, the beam is provided with a second rail assembly perpendicular to the first rail assembly, the second rail assembly including a second slide rail and a second slider engaged with the second slide rail, the grab arm being disposed on the second slider.

Optionally, the lower end of the adjustment frame is rotatably coupled to the fixing frame, and the grab arm assembly further includes a fifth driving source that drives the fixing frame to rotate relative to the adjusting frame.

Optionally, the support mechanism includes a base, a plurality of support rods disposed on the base, and a fixing plate disposed at an upper end of the plurality of support rods, the blocking block is disposed on the fixed plate, and in the second The drive source is driven to expand and contract radially along the spacer.

Optionally, the support mechanism further includes a support plate sleeved on the support rod for supporting the spacer disc and the steel ring, and a sixth driving source for driving the support plate to slide along the support rod, The support plate is provided with at least two notches, and the notches are symmetrically disposed.

Optionally, the support mechanism further includes a travel switch disposed beside the block.

Optionally, the fastening mechanism further includes a transmission component that drives the at least two fastening blocks to synchronize.

The present disclosure also provides a grasping method for grasping by using the above-mentioned steel ring automatic grasping device, comprising:

The detection identification component detects whether the grasping movement mechanism is aligned with a spacer on the support mechanism, and if so, sends a signal to the control module;

The control module controls the grasping movement mechanism to apply an upward force on the outer position of the spacer disk according to the received signal to drive the spacer disk and the steel ring away from the support mechanism, and simultaneously control the separation The mechanism applies a downward force on the inner position of the spacer to cause the spacer to be folded up and down symmetrically, so that the spacer and the steel ring form a gap at the protruding portion to The disc is separated from the rim portion;

Controlling the latching block to be fastened to an inner edge of the steel ring, and moving to the spacer disc under the driving of the gripping arm assembly and the base assembly, the gripping movement mechanism stops The spacer disc applies a force, and the spacer disc is dropped at the spacer disc placement, thereby completing automatic grasping of the steel ring.

Optionally, the grasping moving mechanism applies a force to the outer position of the spacer by a suction assembly or the suction assembly, and drives the spacer and the steel ring away from each other. The direction of the support mechanism moves.

The automatic ferrule grasping device of the present disclosure realizes automatic grasping of the steel ring.

DRAWINGS

1 is a side view of an automatic ferrule grasping device provided by an embodiment.

2 is an exploded perspective view of a steel ring and a spacer disk according to an embodiment.

3 is a front elevational view of a steel ring and a spacer disk according to an embodiment.

4 is a perspective view of a base assembly of a steel ring automatic gripping device according to an embodiment.

FIG. 5 is a front elevational view of the grabbing arm assembly of the automatic steel grabbing device provided by an embodiment.

FIG. 6 is a perspective view of an embodiment of a steel ring automatic gripping device adjustment frame assembly and a fixing frame assembly according to an embodiment.

FIG. 7 is a perspective view of a steel ring automatic gripping device fixing frame assembly according to an embodiment.

FIG. 8 is a perspective view of a grabbing movement mechanism of an automatic ferrule grasping device according to an embodiment.

FIG. 9 is a view showing an operation state of a suction assembly of a steel ring automatic grasping device according to an embodiment.

FIG. 10 is a view showing the working state of the grabbing assembly of the steel ring automatic gripping device according to an embodiment.

Figure 11 is a perspective view of a steel ring automatic gripping device supporting mechanism according to an embodiment.

FIG. 12 is a perspective view of a separating mechanism of an automatic grabbing device for a steel ring according to an embodiment.

Figure 13 is a plan view of Figure 7.

FIG. 14 is a perspective view of a buckle holding mechanism of a steel ring automatic grasping device according to an embodiment.

FIG. 15 is a view showing the working state of the buckle holding mechanism of the steel ring automatic grasping device being fastened to the inner edge of the steel ring according to an embodiment.

detailed description

Referring to FIG. 1 to FIG. 3, the embodiment relates to a steel ring automatic grasping device 100, comprising: a base assembly 10, a grab arm assembly 20 disposed on the base assembly 10, and a set in the same A gripping movement mechanism 30 on the lower side of the grip arm assembly 20, a separating mechanism 40 disposed on the lower side or the side of the gripping movement mechanism 30, a detection recognition unit 60, and a control module 70 are described. The steel ring automatic gripping device 100 is used to automatically grasp the stacked steel rings 200 one by one and assemble the steel ring 200 to a preseter of the tire building machine. A plurality of stacked steel rings 200 are sleeved on a support mechanism 300, and a spacer disk 210 is disposed between any two adjacent steel rings 200. The spacer disk 210 and the steel ring 200 are hollow. A ring structure, and the spacer disk 210 is a flexible material. The middle portion of the spacer disk 210 is provided with an outwardly convex protrusion 211. The steel ring 200 is attached to the upper side of the spacer disk 210, and the middle portion is provided with a concave portion matching the convex portion 211. The groove portion 201. The area of the rim 200 is smaller than the area of the spacer 210 to form a overlapping area 212 and a non-coinciding area 213 on the spacer 210, and the overlapping area 212 is disposed near the inner edge of the spacer 210. That is, a part of the spacer disk 210 is attached to the steel ring 200.

Referring to FIGS. 1 to 4, the base assembly 10 includes a base rod 11, a cross member 12 disposed on the top of the base rod 11, a second rail assembly 13 disposed on the cross member 12, and the second guide rail. The assembly 13 includes a second slide rail 131, a second slider 132 that cooperates with the second slide rail 131, and a second rail drive source 133. The grab arm assembly 20 is disposed on the second slider 132. The second rail drive source 133 is capable of driving the grab arm assembly 20 to slide along the second slide rail 131. In this embodiment, the second rail drive source 133 is a combined structure of a motor and a lead screw.

Referring to FIGS. 4-6, the grab arm assembly 20 includes a grab arm 21, an adjuster assembly 22 disposed on a lower side of the grab arm 21, and a rotation disposed on a lower side of the adjuster assembly 22 The holder assembly 23 and a first driving source 24 that drives the movement of the gripping arm 21, the gripping arm 21 being disposed on the second slider 132. The first driving source 24 is a combined structure of a motor and a lead screw.

The adjustment bracket assembly 22 includes an adjustment bracket 221 disposed at a lower end of the grab arm 21, a first rail assembly 222 disposed between the adjustment bracket 221 and the grab arm 21, the first rail assembly 222 including a first sliding rail 2221 disposed at a bottom end of the grasping arm 21, a first sliding block 2222 disposed on the adjusting frame 221, and a first driving the adjusting frame 221 to slide along the first sliding rail 2221 The rail drive source 2223. The first rail assembly 222 and the second rail assembly 13 are perpendicular to each other to enable the mounting bracket 23 to be staggered under the guidance of the first rail assembly 222 and the second rail assembly 13.

The fixing frame assembly 23 includes a fixing frame 231 rotatably disposed at a bottom end of the adjusting frame 221, a fifth driving source 232 for driving the fixing frame 231 to rotate, and a detection and recognition component 60 disposed on the fixing frame 231. The fifth driving source 232 is disposed on the adjusting frame 221 and is provided with a telescopic rod 311. The telescopic rod 311 is connected to the fixing frame 231 via a connecting rod 233, and the fifth driving source 232 drives the telescopic rod 311. When the telescopic device is stretched, the connecting rod 233 drives the fixing frame 231 to rotate vertically. The fifth driving source 232 is a telescopic cylinder.

Referring to FIGS. 7-8, the grasping movement mechanism 30 includes at least two symmetrically disposed suction assemblies 31 and a gripping assembly 32 located beside the suction assembly 31. The suction unit 31 includes a vacuum chuck 311 or a magnet extending from the holder 231 to one side. The gripping assembly 32 includes a hook 321 disposed on the fixing frame 231, and a fourth driving source 322 that drives the hook 321 to expand and contract in a direction perpendicular to the movement of the grasping moving mechanism 30. The hook 321 is disposed on the side of the suction assembly 31, and the length of the hook 321 is greater than the vacuum chuck 311, and the suction assembly 31 first acts on the outer position of the spacer 210. After the spacer 210 is moved away from the support mechanism 300 by a distance, as shown in FIG. 9, the fourth driving source 322 drives the hook 321 to move radially inward along the spacer 210. The card is moved at the bottom of the spacer 210 to drive the spacer 210 to move, as shown in FIG. The fourth driving source 322 is a telescopic cylinder. Wherein, referring to FIG. 6, the side of the suction assembly 31 may refer to both sides of the suction assembly 31.

Referring to FIG. 12 and FIG. 15, the separating mechanism 40 is disposed on the supporting mechanism 300. The separating mechanism 40 includes a blocking block 41 and a first step of driving the blocking block 41 to expand and contract toward the inside of the spacer 210. a second driving source 42 driving the second driving source 42 when the grasping moving mechanism 30 drives the spacer 210 away from the supporting mechanism 300 through the suction assembly 31 and the grasping assembly 32. The blocking block 41 protrudes toward the inside of the spacer disk 210 and interferes with the inside of the spacer disk 210. Since the grasping moving mechanism 30 acts on the spacer disk 210 to the outer position, the blocking block 41 functions. Inside the spacer disk 210, the force is opposite, so that the spacer disk 210 is symmetrically folded, and a gap is formed in the protruding portion of the spacer disk 210 and the steel ring 200. The second drive source 42 is a telescopic cylinder.

The separating mechanism 40 further includes a travel switch 43 disposed beside the blocking block 41 for detecting whether the spacer 210 and the steel ring 200 reach a designated position.

Referring to FIG. 11 , the support mechanism 300 includes a base 310 , a plurality of support rods 320 disposed on the base 310 , a fixing plate 330 disposed at an upper end of the plurality of support rods 320 , and a sleeve disposed on the support rod. A support plate 340 for supporting the spacer disk 210 and the steel ring 200 and a sixth drive source 350 for driving the support plate 340 to move along the support bar 320 are provided. The blocking block 41 is disposed on the fixing plate 330 and expands and contracts toward the spacer disk 210 under the driving of the second driving source 42. When the sixth driving source 350 drives the support plate 340 to move to the upper end, the fixing plate 330 cooperates with the hollow portion of the spacer disk 210. At least two symmetrically disposed notches 341 are provided on the support plate 340 to facilitate the grasping assembly 32 to be grasped at the bottom of the spacer disk 210. The sixth driving source 350 is a combined structure of a motor and a ball screw.

Referring to FIG. 7 and FIG. 13 to FIG. 15 , the fastening mechanism 50 includes at least two fastening blocks 51 symmetrically disposed, a transmission assembly 52 that drives each of the fastening blocks 51 to operate synchronously, and the drive assembly 52 to drive The third driving source 53 that moves each of the latching blocks 51 toward the inner edge of the spacer 210 is driven.

The fastening mechanism 50 further includes a plurality of fastening slots 511 defined on the side walls of each of the fastening blocks 51. The fastening slots 511 are matched with the inner edge of the spacer 210, and are disposed in the The rolling wheel 512 at the bottom of the block 51 is gripped. The fastening block 51 is disposed on the lower side of the fixing frame 231 by a spring and can move up and down relative to the fixing frame 231. When the third driving source 53 drives the fastening block 51 along the spacer disk When the 210 moves radially, the rolling wheel 512 of the holding block 51 first contacts the surface of the spacer 210 and rolls on the surface of the spacer 210 toward the inner edge of the steel ring 200 due to The middle portion of the spacer disk 210 is convexly disposed, and the holding block 51 can be moved up and down, so that the inner edge of the spacer disk 210 and the steel ring 200 can be prevented from being scratched. The third drive source 53 may be a rotary cylinder.

The transmission assembly 52 includes at least two synchronous wheels 521 disposed on a first side of the fixed frame 231, a rack and pinion assembly 522 disposed on a second side of the fixed frame 23 and coaxial with the synchronous wheel assembly 521 . The synchronizing wheel assembly 521 includes at least two synchronizing wheels 5211, a timing belt that connects each of the synchronizing wheels 5211, and a pinch roller 5212. The rack and pinion assembly 522 includes a latching rail 5221 and a slider 5222 disposed in cooperation with the latching rail 5221. One side of the slider 5222 is provided with a rack, and the latching block 51 is disposed at the The latching block 51 is driven to rotate radially along the spacer disk 210 under the driving of the third driving source 53.

The detection and recognition component 60 includes a light source disposed on the fixing frame 231, an image acquisition component disposed on the support mechanism 300, and a position detecting component disposed on each of the driving sources, the light source and image acquisition Both the component and the position detecting component are electrically or communicatively coupled to the control module 70. The light source is capable of emitting light downward, detecting whether the steel ring 200 is at a designated position by the image acquisition element, and transmitting a signal to the control module 70. The position detecting element can record parameters such as speed, position, and time of the driving source, and send a signal to the control module 70.

The embodiment further provides a grasping method for grasping the steel ring 200 by using the steel ring automatic grasping device 100 in any of the above embodiments, including:

The rim automatic gripping device 100 has a starting position, and the detecting and identifying component 60 detects whether the rim 200 has reached a designated position, and if so, sends a start signal to the control module 70.

The control module 70 controls the grasping movement mechanism 30 to apply an upward force on the outer position of the spacer disk 210 according to the received signal to drive the spacer disk 210 and the steel ring 200 away from the support mechanism 300. At the same time, the separating mechanism 40 is controlled to apply a downward force on the inner position of the spacer 210 to fold the spacer 210 up and down symmetrically, thereby causing the spacer 210 and the steel ring 200 to A gap is formed at the protruding portion.

Optionally, the suction assembly 31 acts on the first side surface of the spacer 210 to be externally positioned, and after the spacer 210 and the steel ring 200 are moved by a distance, the grasping component 32 is grasped. a second side surface of the spacer disk 210 such that the grasping movement mechanism 30 acts on an outer position of the spacer disk 210 to move the spacer disk 210 away from the support mechanism 300, After the spacer 210 is detected to move up to a set distance, the control module 70 controls the second driving source 42 to drive the blocking block 41 to protrude toward the inside of the spacer 210, and interferes with the The inner position of the spacer disk 210, since the grasping movement mechanism 30 acts on the spacer plate 210 to the outer position, the blocking block 41 acts on the inside of the spacer disk 210, and the force is opposite, thereby causing the The spacer disk 210 is symmetrically folded such that the spacer disk 210 forms a gap with the steel ring 200 at the protruding portion.

After detecting that the separating mechanism 40 is operated for a set time, the control module 70 controls the holding block 51 to be fastened at the inner edge of the steel ring 200 at the gripping arm assembly 20 and the base assembly 10 After moving to the placement of the spacer disk 210, the grasping movement mechanism 30 stops applying force to the spacer disk 210, and the spacer disk 210 is dropped at the spacer disk placement, thereby separating the steel. The ring 200 and the spacer 210 complete the automatic clamping of the rim 200.

Optionally, after the first rail driving source 2223, the second rail driving source 14 and the first driving source 24 drive the fixing frame 231 to a designated position, the fourth driving source 322 drives the hook 321 along The spacer disk 210 moves radially outward to release the spacer disk 210, thereby dropping the spacer disk 210 to complete the separation of the steel ring 200 and the spacer disk 210, and the fastening mechanism 50 can be buckled. The steel ring 200 is assembled to the preset device by the driving source, thereby completing the automatic grasping of the steel ring 200.

The steel ring automatic grasping device 100 provided in this embodiment is used for automatically grasping the stacked steel rings 200, and a spacer disk 210 is disposed between any adjacent steel rings 200, and a movement is set on a fixed frame 231. The grasping mechanism 30 acts on the outer position of the spacer disk 210, and drives the steel ring 200 and the spacer disk 210 to move away from the support mechanism 300, and then provides a separating mechanism 40 at the steel ring 200 and the spacer disk 210. During the moving process, the steel ring 200 and the spacer disk 210 are partially separated, and finally a fastening mechanism 50 is disposed to be fastened to the inner edge of the steel ring 200, and the moving grasping mechanism 30 is released. The 210 is placed at a preset position, and finally the steel ring 200 is moved to the preset of the tire building machine under the driving of the above-mentioned driving source, thereby completing the automatic grasping of the steel ring 200.

Industrial applicability

The automatic ferrule grasping device of the present disclosure realizes automatic grasping of a plurality of steel rings placed in a stack, which improves the production efficiency of the tire, reduces the manufacturing cost, and reduces the work intensity of the worker.

Claims

A steel ring automatic grasping device for grasping a plurality of steel rings stacked on a support mechanism, and a spacer disk is disposed between any two adjacent steel rings, wherein the spacer disk is a middle direction An outwardly projecting flexible annular member, the surface of the steel ring being in contact with the surface portion of the spacer, the automatic steel grabbing device comprising:

Base assembly

Grasping the arm assembly, comprising a grabbing arm and a first driving source for driving the gripping arm to move up and down, the gripping arm being disposed on the base assembly;

Grasping a moving mechanism, disposed on a lower side of the grabbing arm, acting upwardly on an outer position of the spacer disc to drive the spacer disc and the steel ring away from the supporting mechanism;

a separating mechanism comprising a blocking block and a second driving source for driving the blocking block to radially expand and contract along the spacer disk, when the grasping moving mechanism drives the spacer disk and the steel ring away from the supporting mechanism By driving the blocking block against the inner position of the spacer disk, the spacer disk is symmetrically folded, and a gap is formed at the protruding portion of the spacer disk and the steel ring;

The fastening mechanism includes at least two symmetrically disposed latching blocks and a third driving source for driving each of the latching blocks to move radially along the spacer disc, and each of the latching blocks is provided with a plurality of latching spaces a groove, after the spacer disk and the steel ring form a gap at the protruding portion, by driving each of the fastening blocks to be buckled and held at an inner edge of the steel ring;

Detecting an identification component, configured to identify whether the steel ring is at a preset position, and detecting a speed, time, and position parameter of the driving source, and transmitting a corresponding detection signal;

The control module controls the automatic lifting device of the steel ring to start according to the received detection signal.
The automatic steel ring grabbing device according to claim 1, wherein: the gripping arm assembly further comprises a fixing bracket disposed on a lower side of the gripping arm;

The gripping movement mechanism includes at least two symmetrically disposed suction assemblies disposed on the holder, the suction assembly acting on an outer position of the spacer disc, and capable of driving the spacer disc and the spacer The steel ring moves in a direction away from the support mechanism.
The automatic steel ring grabbing apparatus according to claim 2, wherein: said suction assembly comprises a vacuum chuck, a gas source, and an air guiding tube.
A steel ring automatic gripping device according to claim 2, wherein: said suction assembly is a controllable electromagnet.
A steel ring automatic gripping device according to claim 2, wherein: said gripping movement mechanism further comprises at least two symmetrically disposed gripping assemblies disposed on a side of said suction assembly, said gripping assembly comprising a hook provided on the fixing frame, a fourth driving source for driving the hook to expand and contract in a direction perpendicular to the movement of the grasping moving mechanism, the length of the hook protruding from the fixing bracket is greater than The length of the suction assembly extending from the holder.
A steel ring automatic grasping apparatus according to any one of claims 2 to 5, wherein said detection recognition means comprises a light source and an image acquisition element provided on said holder.
A steel ring automatic grasping device according to any one of claims 2 to 5, wherein: a first rail assembly is disposed between a lower end of the gripping arm and the holder, and the first rail assembly includes a slide rail and a first slider matched with the first slide rail, and an adjustment bracket is disposed on the first slider.
A steel ring automatic gripping device according to claim 7, wherein: said base assembly includes a base rod and a cross member disposed at a top of the base rod, said cross member being provided with a first section perpendicular to said first rail assembly a second rail assembly, the second rail assembly including a second slide rail and a second slider cooperating with the second slide rail, the gripping arm being disposed on the second slider.
The automatic steel ring grabbing device according to claim 7, wherein: a lower end of the adjusting frame is rotatably coupled to the fixing frame, and the gripping arm assembly further comprises driving the fixing frame to rotate relative to the adjusting frame The fifth drive source.
A steel ring automatic grasping device according to claim 1, wherein: said support mechanism comprises a base, a plurality of support rods disposed on said base, and a fixed plate disposed at an upper end of said plurality of support rods, said The blocking block is disposed on the fixing plate and radially expands and contracts along the spacer disk under the driving of the second driving source.
The automatic steel ring grabbing apparatus according to claim 10, wherein: said support mechanism further comprises a support plate sleeved on said support rod for supporting said spacer disk and said steel ring, and driving said support plate a sixth driving source sliding along the support rod, the support plate is provided with at least two notches, and the at least two notches are symmetrically disposed.
A steel ring automatic gripping device according to claim 10, wherein: said support mechanism further comprises a travel switch disposed beside said blocking block.
The automatic steel ring grabbing apparatus of claim 1 wherein: said latching mechanism further comprises a drive assembly for driving the at least two latching blocks to act in synchronism.
A method for grasping a steel ring automatic grasping device according to any one of claims 1 to 13, comprising:

The detection identification component detects whether the grasping movement mechanism is aligned with a spacer on the support mechanism, and if so, sends a signal to the control module;

The control module controls the grasping movement mechanism to apply an upward force on an outer position of the spacer disk according to the received signal to drive the spacer disk and the steel ring away from the support mechanism. Moving, at the same time, controlling the separating mechanism to apply a downward force on the inner position of the spacer disk to fold the spacer disk up and down symmetrically, so that the spacer disk and the steel ring are at the protruding portion Forming a gap to separate the spacer from the rim portion;

Controlling the latching block to be fastened to an inner edge of the steel ring, and moving to the spacer disc under the driving of the gripping arm assembly and the base assembly, the gripping movement mechanism stops The spacer disc applies a force, and the spacer disc is dropped at the spacer disc placement, thereby completing automatic grasping of the steel ring.
The grasping method according to claim 14, wherein: the gripping movement mechanism applies a force to the outer portion of the spacer by the suction assembly or the suction assembly, and The spacer disc and the steel ring are driven to move away from the support mechanism.