Adjustment mechanism, manipulator and vulcanizing machine having the same

Abstract

The present invention provides an adjustment mechanism, a manipulator, and a vulcanizer having the same. The adjustment mechanism is used to adjust the movement of a claw assembly. The adjustment mechanism includes: a connecting sleeve, an adjustment cylinder, and an adjustment rod. The connecting sleeve is provided with a first threaded portion; the adjustment cylinder is movably arranged relative to the connecting sleeve, wherein the adjustment cylinder is provided with a second threaded portion and a third threaded portion, and the adjustment cylinder is connected to the first threaded portion on the connecting sleeve via the second threaded portion; the adjustment rod is movably arranged relative to the adjustment cylinder to drive the movement of the claw assembly, wherein the adjustment rod is provided with a fourth threaded portion, and the adjustment rod is connected to the third threaded portion on the adjustment cylinder via the fourth threaded portion; wherein the pitch of the thread on the second threaded portion is d1, the pitch of the thread on the third threaded portion is d2, and d1 is not equal to d2. The adjustment mechanism of the present invention solves the problem that the adjustment mechanism in the prior art cannot accurately adjust the specifications of the manipulator.

Description

Technical Field

[0001] The present invention relates to the technical field of rubber product processing and manufacturing, and in particular to an adjusting mechanism, a manipulator and a vulcanizing machine having the same. Background Art

[0002] The specification adjustment device of the hydraulic tire shaping and curing press (referred to as the curing press) manipulator is used to adjust the tire gripping specifications (referring to the tire mouth size) of the manipulator's claw assembly. The curing press manipulator is divided into a tire loading manipulator and a tire unloading manipulator. The tire loading manipulator's function is to move the green tire from the tire storage device into the curing chamber, and the tire unloading manipulator moves the cured tire from the curing chamber to the post-inflation device for inflation, cooling, and shaping. Generally, a curing press can vulcanize tires of several different specifications. Vulcanizing tires of different specifications requires changing the mold. At the same time, in order to adapt to different tire gripping specifications, the manipulator also needs to adjust the gripping specifications of the claw assembly. Therefore, both the tire loading and unloading manipulators are equipped with specification adjustment devices.

[0003] Vulcanizers are different from molding machines, cutting machines, etc. They have the characteristics of multiple machines on one line. There are often dozens to hundreds of vulcanizers in a vulcanizing workshop. Each vulcanizer has two workstations and a total of 4 robots for loading / unloading tires. Therefore, when changing tire specifications during production, the ability to quickly and accurately adjust the robot claw assembly not only greatly improves the workers' work efficiency, but also reduces the non-vulcanization time of the vulcanizer, which has practical economic significance.

[0004] There are several adjustment methods for manipulators in the prior art:

[0005] 1. Set several spaced holes on the rod, and set corresponding holes on the sliding block. The sliding block is connected to the claw assembly of the manipulator. Adjust the position of the sliding block on the rod so that the holes on the sliding block correspond to the holes on the rod, and then insert the pin to fix it. This method adjusts the specifications of the claw assembly by selecting different holes. Its disadvantage is that although the adjustment speed is fast, the adjustment accuracy is not high and the error is large;

[0006] 2. A threaded rod is set up, and the claw assembly is threadedly connected to the threaded rod through a nut to achieve stepless adjustment. However, this method requires the use of tools such as wrenches for adjustment. Since there are too many robots in a workshop, it is very inconvenient to carry tools, so the operation is very troublesome. In addition, the threaded rod is limited by the large pitch between the threads. Because it involves the problem of positioning the nut after rotation to prevent the nut from loosening, the nut can only move one pitch at a time. Due to the large pitch of the threaded rod, the claw assembly cannot be accurately adjusted.

[0007] Therefore, the above adjustment methods are unable to accurately adjust the position of the claw assembly to change the specifications of the robot. Summary of the Invention

[0008] The main purpose of the present invention is to provide an adjustment mechanism, a robot and a vulcanizing machine having the same, so as to solve the problem that the adjustment mechanism in the prior art cannot accurately adjust the specifications of the robot.

[0009] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, an adjustment mechanism is provided for adjusting the movement of the claw assembly, the adjustment mechanism comprising: a connecting sleeve, an adjusting cylinder and an adjusting rod, the connecting sleeve is provided with a first threaded portion; the adjusting cylinder is movably arranged relative to the connecting sleeve, wherein a second threaded portion and a third threaded portion are provided on the adjusting cylinder, and the adjusting cylinder is connected to the first threaded portion on the connecting sleeve through the second threaded portion; the adjusting rod is movably arranged relative to the adjusting cylinder to drive the claw assembly to move, wherein a fourth threaded portion is provided on the adjusting rod, and the adjusting rod is connected to the third threaded portion on the adjusting cylinder through the fourth threaded portion; wherein the pitch of the thread on the second threaded portion is d1, the pitch of the thread on the third threaded portion is d2, and d1 is not equal to d2, so that when the adjusting cylinder rotates one circle, the adjusting cylinder moves a distance d1 relative to the connecting sleeve, and the adjusting rod moves a distance d1 relative to the connecting sleeve.

[0010] Furthermore, the adjustment mechanism further includes: a driving assembly, which is drivingly connected to the adjustment cylinder to drive the adjustment cylinder to rotate relative to the connecting sleeve.

[0011] Furthermore, the drive assembly includes a drive sleeve, and the adjusting cylinder is inserted into the inner side of the drive sleeve, wherein a first positioning plane is provided on the inner side of the drive sleeve, and a second positioning plane is provided on the outer side of the adjusting cylinder. The first positioning plane and the second positioning plane are arranged relative to each other, so that when the drive sleeve is rotated, the drive sleeve drives the adjusting cylinder to rotate through the combination of the first positioning plane and the second positioning plane.

[0012] Furthermore, the adjustment mechanism also includes: a positioning assembly, the positioning assembly is arranged on the connecting sleeve, the driving sleeve is provided with a positioning part, and the driving sleeve is movably arranged relative to the positioning assembly to stop the driving sleeve from rotating when the positioning part is connected to the positioning assembly.

[0013] Furthermore, the positioning assembly includes a positioning plate, a plurality of first positioning holes are provided on the positioning plate, the plurality of first positioning holes are arranged at intervals along the circumferential direction, and the positioning portion includes a positioning protrusion, which is plug-connected to the first positioning hole.

[0014] Furthermore, there are multiple positioning protrusions, and the multiple positioning protrusions are arranged at intervals along the circumferential direction, wherein the positioning protrusions are conical structures, and the multiple positioning protrusions are arranged in a one-to-one correspondence with the multiple first positioning holes, so as to be respectively inserted into the corresponding first positioning holes for positioning.

[0015] Furthermore, the second threaded portion and the third threaded portion are arranged at intervals on the inner side of the adjusting cylinder along the axial direction of the adjusting cylinder, and the threads of the second threaded portion and the third threaded portion have the same rotation direction.

[0016] Furthermore, the adjusting rod is provided with a plurality of adjusting holes, which are arranged at intervals along the length direction of the adjusting rod. The adjusting mechanism also includes a sliding block and a latch. The sliding block is movably provided on the adjusting rod to drive the claw assembly to move, wherein a second positioning hole is provided on the sliding block so that after the sliding block moves to a preset position, the latch is inserted into the adjusting hole and the second positioning hole in sequence to position the sliding block on the adjusting rod.

[0017] According to another aspect of the present invention, a manipulator is provided, comprising an adjustment mechanism and a claw assembly, wherein the claw assembly comprises a plurality of claws, and the plurality of claws move toward or away from each other, wherein the claws have an avoidance position and a grasping position, and the claws move between the avoidance position and the grasping position, and the adjustment mechanism is connected to the plurality of claws so that the claw assembly can grasp tires of different sizes by adjusting the grasping position of the claws, and the adjustment mechanism is the above-mentioned adjustment mechanism.

[0018] Furthermore, the manipulator also includes: a fixed support, a lifting assembly and a horizontal moving assembly. The lifting assembly is movably arranged on the fixed support to drive the claw assembly to move up and down relative to the fixed support; the horizontal moving assembly is arranged on the lifting assembly to drive the claw assembly to move in the horizontal direction.

[0019] Furthermore, the horizontal movement assembly includes: a rotating arm and a first driving cylinder, the rotating arm is hingedly connected to the lifting assembly; the first driving cylinder is fixed on the lifting assembly, wherein the piston rod of the first driving cylinder is hingedly connected to one side of the rotating arm to drive the rotating arm to rotate horizontally relative to the lifting assembly.

[0020] Furthermore, the horizontal movement assembly also includes: a second driving cylinder, the second driving cylinder is fixed on the rotating arm, and the piston rod of the second driving cylinder is connected to the connecting sleeve of the adjusting mechanism to drive the adjusting mechanism to move along the length direction of the rotating arm.

[0021] According to another aspect of the present invention, a vulcanizer is provided, comprising a manipulator and a vulcanizer body, wherein the manipulator is used to grab a tire to feed the vulcanizer body or to remove a vulcanized tire from the vulcanizer body, the vulcanizer being used to vulcanize the tire, and the manipulator is the above-mentioned manipulator.

[0022] The adjusting mechanism of the technical solution of the present invention is mainly used in the field of rubber tires to adjust the maximum opening position of the claw assembly on the manipulator, so as to facilitate the grasping of tires of various specifications and sizes. The adjusting mechanism adopts the principle of differential thread, so that after the adjusting cylinder rotates one circle, the adjusting rod can move less than a pitch length relative to the connecting sleeve, thereby solving the problem in the prior art that the adjusting rod moves at least one pitch because the pitch of the thread is large, thereby ensuring the adjustment accuracy. Specifically, a connecting sleeve and an adjusting rod are respectively provided at both ends of the adjusting cylinder, wherein the connecting sleeve is fixed and does not rotate, and the adjusting rod does not rotate but can move along the axial direction of the adjusting cylinder. One end of the adjusting cylinder is threadedly connected to the connecting sleeve, and the other end of the adjusting cylinder is threadedly connected to the connecting sleeve. It is threadedly connected to the adjusting rod. When the adjusting cylinder is rotated one circle, the adjusting cylinder moves a distance d1 of the pitch of the second thread portion relative to the connecting sleeve in a preset direction, and the adjusting rod moves a distance d2 of the pitch of the third thread portion in a direction opposite to the preset direction. At this time, the adjusting rod moves a distance d1 minus d2 relative to the connecting sleeve in the preset direction. Therefore, through the above setting, it is achieved that the adjusting cylinder is rotated one circle, and the adjusting rod moves a distance less than d1 relative to the connecting sleeve, thereby increasing the moving distance of the adjusting rod. Since the claw assembly is connected to the adjusting rod, the claw assembly can be moved a small distance for adjustment. The specific moving distance can be set according to the pitch of the second thread portion and the third thread portion as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 A partial structural cross-sectional view of an embodiment of a manipulator according to the present invention is shown;

[0025] Figure 2 A schematic structural diagram of an embodiment of the adjustment mechanism of the present invention is shown;

[0026] Figure 3 A structural cross-sectional view showing an embodiment of the adjustment mechanism of the present invention;

[0027] Figure 4 A partial structural cross-sectional view showing an embodiment of the adjustment mechanism of the present invention;

[0028] Figure 5 A schematic diagram illustrating an embodiment of a drive assembly of an adjustment mechanism of the present invention;

[0029] Figure 6 The present invention shows Figure 5 Side view of

[0030] Figure 7 A schematic diagram illustrating an embodiment of a positioning assembly of an adjustment mechanism of the present invention;

[0031] Figure 8 A cross-sectional view illustrating an embodiment of a positioning assembly of an adjustment mechanism of the present invention;

[0032] Figure 9 A schematic diagram showing a first perspective of an embodiment of a vulcanizing press of the present invention is shown;

[0033] Figure 10 A schematic diagram from a second perspective of an embodiment of a vulcanizing press of the present invention is shown.

[0034] The above drawings include the following reference numerals:

[0035] 10. Connecting sleeve; 11. First threaded portion; 20. Adjusting cylinder; 22. Second threaded portion; 23. Third threaded portion; 30. Adjusting rod; 31. Fourth threaded portion; 32. Adjusting hole; 33. Sliding block; 34. Guide key; 40. Claw assembly; 41. Claw; 50. Driving assembly; 51. Driving sleeve; 511. First positioning plane; 512. Positioning portion; 513. Positioning protrusion; 60. Positioning assembly; 61. First positioning hole; 70. Fixed support; 80. Lifting assembly; 90. Horizontal moving assembly; 91. Rotating arm; 92. First driving cylinder; 93. Second driving cylinder. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] In order to solve the problem that the adjustment mechanism in the prior art cannot accurately adjust the specifications of the manipulator, the present invention provides an adjustment mechanism, a manipulator and a vulcanizing machine having the same.

[0038] Please refer to Figures 1 to 10The adjusting mechanism is used to adjust the movement of the claw assembly 40. The adjusting mechanism includes: a connecting sleeve 10, an adjusting cylinder 20 and an adjusting rod 30. The connecting sleeve 10 is provided with a first threaded portion 11; the adjusting cylinder 20 is movably arranged relative to the connecting sleeve 10, wherein the adjusting cylinder 20 is provided with a second threaded portion 22 and a third threaded portion 23. The adjusting cylinder 20 is connected to the first threaded portion 11 on the connecting sleeve 10 through the second threaded portion 22; the adjusting rod 30 is movably arranged relative to the adjusting cylinder 20 to drive the claw assembly 40 movement, wherein a fourth threaded portion 31 is provided on the adjusting rod 30, and the adjusting rod 30 is connected to the third threaded portion 23 on the adjusting cylinder 20 through the fourth threaded portion 31; wherein the pitch of the thread on the second threaded portion 22 is d1, the pitch of the thread on the third threaded portion 23 is d2, and d1 is not equal to d2, so that when the adjusting cylinder 20 rotates one circle, the adjusting cylinder 20 moves a distance d1 relative to the connecting sleeve 10, and the adjusting rod 30 moves a distance relative to the connecting sleeve 10 equal to the value of d1 minus d2.

[0039] The present invention provides an adjustment mechanism, which is mainly used in the field of rubber tires to adjust the maximum position of the claw assembly 40 on the manipulator, thereby facilitating the grasping of tires of various specifications and sizes. The adjustment mechanism adopts the principle of differential thread, so that after the adjustment cylinder 20 rotates one circle, the adjustment rod 30 can move less than a pitch length relative to the connecting sleeve 10, thereby solving the problem in the prior art that the adjustment rod 30 is moved at least one pitch due to the large pitch of the thread, thereby ensuring the adjustment accuracy. Specifically, a connecting sleeve 10 and an adjusting rod 30 are respectively provided at both ends of the adjusting cylinder 20, wherein the connecting sleeve 10 is fixed and does not rotate, and the adjusting rod 30 does not rotate but can move along the axial direction of the adjusting cylinder 20, one end of the adjusting cylinder 20 is threadedly connected to the connecting sleeve 10, and the other end of the adjusting cylinder 20 is connected to the adjusting rod 30. 0 threaded connection, when the adjusting cylinder 20 is rotated one circle, the adjusting cylinder 20 moves a distance d1 of the pitch of the second threaded portion 22 relative to the connecting sleeve 10 in a preset direction, and the adjusting rod 30 moves a distance d2 of the pitch of the third threaded portion 23 in a direction opposite to the preset direction. At this time, the adjusting rod 30 moves a distance d1 minus d2 relative to the connecting sleeve 10 in the preset direction. Therefore, through the above arrangement, it is achieved that the adjusting cylinder 20 is rotated one circle, and the adjusting rod 30 moves a distance less than d1 relative to the connecting sleeve 10, thereby increasing the moving distance of the adjusting rod 30. Since the claw assembly 40 is connected to the adjusting rod 30, the claw assembly 40 can be moved a small distance for adjustment. The specific moving distance can be set according to the pitch of the second threaded portion 22 and the third threaded portion 23 as needed.

[0040] The adjustment mechanism further includes a driving assembly 50 , which is drivingly connected to the adjustment cylinder 20 to drive the adjustment cylinder 20 to rotate relative to the connecting sleeve 10 .

[0041] The driving assembly 50 in this embodiment can be configured as needed, such as Figure 1 The driving assembly 50 shown is a driving sleeve 51 mounted on the outside of the adjusting cylinder 20. Optionally, the driving assembly 50 can also be configured as a servo motor as needed to accurately control the rotation angle of the adjusting cylinder 20, thereby achieving precise movement control of the adjusting rod 30.

[0042] The driving assembly 50 includes a driving sleeve 51, and the adjusting cylinder 20 is inserted into the inner side of the driving sleeve 51, wherein a first positioning plane 511 is provided on the inner side of the driving sleeve 51, and a second positioning plane is provided on the outer side of the adjusting cylinder 20. The first positioning plane 511 and the second positioning plane are arranged relative to each other, so that when the driving sleeve 51 is rotated, the driving sleeve 51 drives the adjusting cylinder 20 to rotate through the combination of the first positioning plane 511 and the second positioning plane.

[0043] like Figure 2 and Figure 3 As shown, the driving component 50 in this embodiment is a driving sleeve 51. In order to facilitate the rotation of the adjusting cylinder 20 when the driving sleeve 51 is rotated, the inner hole of the driving sleeve 51 is set to a D-shaped hole, and the adjusting cylinder 20 is set to a D-shaped shape. The adjusting cylinder 20 is inserted into the driving sleeve 51. Since the inner hole of the driving sleeve 51 is not circular, the adjusting cylinder 20 can be rotated at the same time when the driving sleeve 51 is rotated. This embodiment is matched through a first positioning plane 511 and a second positioning plane.

[0044] like Figure 5 and Figure 6 In this embodiment, two first positioning planes 511 are set in the inner hole of the driving sleeve 51. The two first positioning planes 511 are relatively arranged on both sides of the inner hole. Correspondingly, two second positioning planes are also set on the outer side of the adjusting cylinder 20.

[0045] In addition, a corresponding hole or groove may be provided on the driving sleeve 51 and the adjusting cylinder 20 respectively, and connected by a flat key or a pin to realize the rotational connection between the driving sleeve 51 and the adjusting cylinder 20 .

[0046] The adjustment mechanism also includes a positioning assembly 60, which is disposed on the connecting sleeve 10. The drive sleeve 51 is provided with a positioning portion 512. The drive sleeve 51 is movably disposed relative to the positioning assembly 60 to prevent rotation of the drive sleeve 51 when the positioning portion 512 is connected to the positioning assembly 60. The positioning assembly 60 includes a positioning plate having a plurality of first positioning holes 61 disposed thereon. The plurality of first positioning holes 61 are spaced apart along the circumferential direction. The positioning portion 512 includes a positioning protrusion 513, which is pluggably connected to the first positioning holes 61.

[0047] like Figures 5 to 8As shown, the positioning assembly 60 in this embodiment is fixedly connected to the connecting sleeve 10. Specifically, the positioning assembly 60 is a circular plate. A hole for passing the connecting sleeve 10 is provided in the center of the circular plate. Four fan-shaped holes are evenly distributed near the edge of the circular plate. At the same time, one or more positioning protrusions 513 corresponding to the fan-shaped holes are provided at one end of the driving sleeve 51 close to the positioning assembly 60. When the number of positioning protrusions 513 is less than the number of the first positioning holes 61, the positioning protrusions 513 can be optionally inserted into the first positioning hole 61 to position the driving sleeve 51 and the positioning assembly 60 to prevent the driving sleeve 51 from loosening due to vibration.

[0048] In addition, in order to ensure that the drive sleeve 51 can rotate when needed and can be locked when it does not need to rotate, this embodiment enables the drive sleeve 51 to move closer to or away from the positioning assembly 60. Specifically, when the drive sleeve 51 is separated from the positioning assembly 60, the drive sleeve 51 can rotate on its own. When the drive sleeve 51 is rotated to a suitable position, that is, the adjustment of the adjustment rod 30 is completed, the drive sleeve 51 is moved close to the positioning assembly 60 so that the positioning protrusion 513 is inserted into the first positioning hole 61 to prevent the drive sleeve 51 from rotating, thereby ensuring that the adjustment rod 30 will not move due to misoperation.

[0049] There are multiple positioning protrusions 513, and the multiple positioning protrusions 513 are arranged at intervals along the circumferential direction, wherein the positioning protrusions 513 are conical structures, and the multiple positioning protrusions 513 are arranged one-to-one corresponding to the multiple first positioning holes 61, so as to be respectively inserted into the corresponding first positioning holes 61 for positioning.

[0050] Preferably, the number of positioning protrusions 513 is arranged in a one-to-one correspondence with the number, shape and position of the first positioning holes 61. In addition, in order to facilitate the insertion of the positioning protrusions 513 into the first positioning holes 61 for positioning, the positioning protrusions 513 are set to a conical structure, that is, the size of the end of the positioning protrusion 513 close to the positioning plate is smaller than the size of the end away from the positioning plate, thereby facilitating the insertion of the positioning protrusions 513 into the first positioning holes 61 for positioning.

[0051] The second threaded portion 22 and the third threaded portion 23 are provided at an inner side of the adjustment cylinder 20 at intervals along the axial direction of the adjustment cylinder 20 . The second threaded portion 22 and the third threaded portion 23 have the same thread direction.

[0052] like Figure 1 and Figure 2 As shown, in order to make the adjusting cylinder 20 move the adjusting rod 30 by a distance d1 minus d2 after one rotation, in this embodiment, the second threaded portion 22 and the third threaded portion 23 are respectively provided at both ends of the inner side of the adjusting cylinder 20, and the connecting sleeve 10 and the adjusting rod 30 are respectively inserted at both ends of the adjusting cylinder 20 for cooperation, and the second threaded portion 22 and the third threaded portion 23 on the adjusting cylinder 20 have the same rotation direction.

[0053] Optionally, the second threaded portion 22 and the third threaded portion 23 are both arranged on the outside of the adjusting cylinder 20, and the thread rotation direction of the second threaded portion 22 and the third threaded portion 23 is the same. Furthermore, the positions of the first threaded portion 11 and the fourth threaded portion 31 are also adaptively changed. At this time, in order to cooperate with the third threaded portion 23, an inner hole is provided at one end of the adjusting rod 30, and the fourth threaded portion 31 is provided on the side wall of the inner hole. Then the adjusting rod 30 is sleeved on the adjusting cylinder 20 to connect the fourth threaded portion 31 to the third threaded portion 23.

[0054] Optionally, one of the second threaded portion 22 and the third threaded portion 23 is arranged on the inner side of the adjusting cylinder 20, and the other is arranged on the outer side of the adjusting cylinder 20, and the thread rotation directions of the second threaded portion 22 and the third threaded portion 23 are opposite. Furthermore, the positions of the first threaded portion 11 and the fourth threaded portion 31 are also adaptively changed.

[0055] The adjusting rod 30 is also provided with a plurality of adjusting holes 32, which are arranged at intervals along the length direction of the adjusting rod 30. The adjusting mechanism also includes a sliding block 33 and a latch. The sliding block 33 is movably provided on the adjusting rod 30 to drive the claw assembly 40 to move, wherein a second positioning hole is provided on the sliding block 33, so that after the sliding block 33 moves to a preset position, the latch is inserted into the adjusting hole 32 and the second positioning hole in sequence to position the sliding block 33 on the adjusting rod 30.

[0056] like Figure 3 and Figure 4 As shown, in order to solve the problem that the adjustment rod 30 needs to be adjusted over a wide range, a plurality of adjustment holes 32 corresponding to the tire specifications are also provided on the adjustment rod 30. The adjustment holes 32 correspond to the commonly used tire specifications. When a tire of a certain specification needs to be grabbed, the sliding block 33 is first moved to a predetermined position so that the second positioning hole on the sliding block 33 corresponds to the position of the adjustment hole 32 on the adjustment rod 30 so that the pin can be inserted for fixing. At this time, the adjustment cylinder 20 is rotated to fine-tune the position of the adjustment rod 30 to ensure the accuracy of the claw assembly 40.

[0057] By setting multiple adjustment holes 32 corresponding to the tire size on the adjustment rod 30, it is convenient to quickly adjust when switching specifications, and then fine-tune through the adjustment cylinder 20. The two adjustment methods are used together to ensure both the adjustment speed and the adjustment accuracy.

[0058] The present invention also provides a manipulator, including an adjustment mechanism and a claw assembly 40, the claw assembly 40 includes a plurality of claws 41, and the plurality of claws 41 move closer to or away from each other, wherein the claws 41 have an avoidance position and a grasping position, and the claws 41 move between the avoidance position and the grasping position. The adjustment mechanism is connected to the plurality of claws 41 so that the claw assembly 40 can grasp tires of different sizes by adjusting the grasping position of the claws 41, and the adjustment mechanism is the above-mentioned adjustment mechanism.

[0059] like Figure 9 and Figure 10 As shown, in order to quickly switch the specifications of the claw assembly 40 to grab tires of corresponding specifications, the above-mentioned adjustment structure of the present application is driven and connected to the claw assembly 40. The claw assembly 40 has two positions when grabbing the tire. In the avoidance position, the various claws 41 move closer to each other, so that the claw assembly 40 can move to the inner circle of the tire, and then the various claws 41 on the claw assembly 40 move away from each other to the open position. At this time, different tire specifications correspond to different open positions to grab tires of corresponding specifications. In order to make the specifications of the claw assembly 40 correspond to the specifications of the tire, the open position of the claw 41 is adjusted by adopting an adjustment mechanism to obtain different open positions.

[0060] like Figure 10 The illustrated claw assembly 40 includes multiple claws 41 arranged in a circle, which can simultaneously move toward the center of the circle and simultaneously move away from the center of the circle. In addition, in order to enable the adjustment mechanism to simultaneously adjust each claw 41, the adjustment mechanism is connected to each claw 41 in the form of a gear rack or connecting rod mechanism to achieve the purpose of simultaneously adjusting multiple claws 41.

[0061] The manipulator also includes: a fixed support 70, a lifting assembly 80 and a horizontal moving assembly 90. The lifting assembly 80 is movably arranged on the fixed support 70 to drive the claw assembly 40 to move up and down relative to the fixed support 70; the horizontal moving assembly 90 is arranged on the lifting assembly 80 to drive the claw assembly 40 to move in the horizontal direction.

[0062] like Figure 9 As shown, in order to facilitate the grasping of tires, the manipulator in this embodiment is further provided with a lifting assembly 80 and a horizontal moving assembly 90. The lifting assembly 80 is used to drive the tire to move in the vertical direction, and the horizontal moving assembly 90 is used to drive the tire to move in the horizontal direction.

[0063] The horizontal movement assembly 90 includes a rotating arm 91 and a first drive cylinder 92. The rotating arm 91 is hingedly connected to the lifting assembly 80. The first drive cylinder 92 is fixed to the lifting assembly 80, wherein the piston rod of the first drive cylinder 92 is hingedly connected to one side of the rotating arm 91 to drive the rotating arm 91 to rotate horizontally relative to the lifting assembly 80. The horizontal movement assembly 90 also includes a second drive cylinder 93. The second drive cylinder 93 is fixed to the rotating arm 91, and the piston rod of the second drive cylinder 93 is connected to the connecting sleeve 10 of the adjustment mechanism to drive the adjustment mechanism to move along the length of the rotating arm 91.

[0064] The horizontal movement assembly 90 in this embodiment includes a first driving cylinder 92 for driving the claw assembly 40 to rotate and a second driving cylinder 93 for driving the claw assembly 40 to move closer to or away from the fixed support 70. Specifically, the first driving cylinder 92 is fixed on the lifting assembly 80, and the piston rod of the first driving cylinder 92 is connected to one side of the rotating arm 91. The piston rod is retracted to drive the rotating arm 91 to rotate in the horizontal plane. The piston rod of the second driving cylinder 93 is connected to the connecting sleeve 10 through a coupling to drive the connecting sleeve 10 to move along the extension direction of the rotating arm 91, thereby driving the claw assembly 40 to move along the extension direction of the rotating arm 91.

[0065] The present invention also provides a vulcanizer, including a manipulator and a vulcanizer body, the manipulator is used to grab tires to feed the vulcanizer body or to remove the vulcanized tires from the vulcanizer body, the vulcanizer is used to vulcanize the tires, and the manipulator is the above-mentioned manipulator.

[0066] like Figure 9 and Figure 10 As shown, in order to solve the problem of loading and unloading the vulcanizer, two sets of manipulators are set in the vulcanizer body. One set of manipulators is used to grab the green tire and move it into the vulcanizer body for vulcanization. The other set of manipulators is used to unload the vulcanized tires in the vulcanizer body. Both sets of manipulators use the above-mentioned manipulators and can be adjusted simultaneously according to the specifications of the tires.

[0067] According to one embodiment:

[0068] The adjusting rod 30 and the sliding block 33 are connected by a quick-lock pin. The distance between the two adjusting holes 32 on the adjusting rod 30 is 25.4 mm, and the distance between the two adjusting holes 32 on the sliding block 33 is 38.1 mm. Using the relationship of an arithmetic progression, each time the pin position is changed, the sliding block 33 can move 0.5 inches on the adjusting rod 30, that is, the diameter of the circle of the claw 41 on the claw assembly 40 changes by one inch. The main function of this part is to quickly change specifications.

[0069] The adjusting rod 30 is connected to the adjusting cylinder 20 via an M24×1.5 fine-pitch thread, while the adjusting cylinder 20 is connected to the connecting sleeve 10 via an M30×2 fine-pitch thread. A clearance fit between the adjusting rod 30 and the connecting sleeve 10 forms a sliding pair, with a guide key 34 limiting the relative rotation of the adjusting rod 30 and the connecting sleeve 10. Each rotation of the adjusting cylinder 20 results in 1.5mm relative movement between the adjusting rod 30 and the adjusting cylinder 20, and 2mm relative movement between the connecting sleeve 10 and the adjusting cylinder 20. Since both threads are right-handed and move in the same direction, the relative movement between the adjusting rod 30 and the connecting sleeve 10 is 0.5mm. Therefore, the principle of differential threads allows for precise adjustment of the tire grip specifications of the claw disc over a minute distance.

[0070] The drive sleeve 51 is made of ABS plastic and connects to the adjustment cylinder 20 through a D-shaped hole with a clearance fit. The drive sleeve 51 slides on the adjustment cylinder 20 and rotates the adjustment cylinder 20 by hand. The positioning assembly 60 has a multi-toothed sector-shaped notch. One end of the drive sleeve 51 is tapered and slotted. After fine-tuning, the tapered teeth of the drive sleeve 51 are inserted into the positioning assembly 60 to prevent the adjustment mechanism from loosening and rotating due to vibration.

[0071] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0072] In order to solve the problem of adjusting the size of the tire gripping robot caused by the error in the size of the green tire mouth, the present invention provides a differential spiral fine-tuning specification adjustment mechanism to achieve the purpose of quickly and accurately adjusting small distances. Combined with the adjustment method of setting multiple adjustment holes 32 on the adjustment rod 30, the advantage of quick tool-free specification change is retained. The adjustment mechanism part is increased by a drive sleeve 51 made of ABS material, which is ergonomic and increases the comfort of operation. At the same time, the anti-loosening method of the drive sleeve 51 completely eliminates the disadvantage of requiring tools to operate the back-tightening nut, and achieves the purpose of tool-free operation from quick-lock pin to spiral fine-tuning and then to tapered tooth anti-loosening, saving a lot of non-sulfur time for tire factories and improving productivity. To summarize the main beneficial effects brought about by the technical solution of the present invention, they mainly include the following points:

[0073] 1. Introducing the concept of differential thread mechanism into the vulcanizing machine robot to achieve precise and micro-size adjustment;

[0074] 2. Combine the pin-type specification rod and the adjustment mechanism to achieve two-level adjustment of large range and small size;

[0075] 3. Abandon the nut anti-loosening method and add a tapered gear drive sleeve 51 to achieve tool-free operation throughout the process.

[0076] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0077] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0078] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0079] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0080] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0081] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An adjustment mechanism for adjusting the movement of a claw assembly (40), characterized in that: The regulating mechanism comprises: A connecting sleeve (10), wherein the connecting sleeve (10) is provided with a first threaded portion (11); an adjusting cylinder (20), the adjusting cylinder (20) being movably arranged relative to the connecting sleeve (10), wherein the adjusting cylinder (20) is provided with a second threaded portion (22) and a third threaded portion (23), and the adjusting cylinder (20) is connected to the first threaded portion (11) on the connecting sleeve (10) through the second threaded portion (22); an adjusting rod (30), the adjusting rod (30) being movably arranged relative to the adjusting cylinder (20) for driving the claw assembly (40) to move, wherein the adjusting rod (30) is provided with a fourth threaded portion (31), and the adjusting rod (30) is connected to the third threaded portion (23) on the adjusting cylinder (20) through the fourth threaded portion (31); The pitch of the thread on the second threaded portion (22) is d1, the pitch of the thread on the third threaded portion (23) is d2, and d1 is not equal to d2, so that when the adjusting cylinder (20) rotates one circle, the adjusting cylinder (20) moves a distance d1 relative to the connecting sleeve (10), and the adjusting rod (30) moves a distance equal to d1 minus d2 relative to the connecting sleeve (10); a driving assembly (50), the driving assembly (50) being drivingly connected to the adjusting cylinder (20) for driving the adjusting cylinder (20) to rotate relative to the connecting sleeve (10); the driving assembly (50) comprising a driving sleeve (51), the adjusting cylinder (20) being inserted inside the driving sleeve (51); A positioning assembly (60) is provided on the connecting sleeve (10), a positioning portion (512) is provided on the driving sleeve (51), and the driving sleeve (51) is movably provided relative to the positioning assembly (60) to prevent the driving sleeve (51) from rotating when the positioning portion (512) is connected to the positioning assembly (60).

2. The adjustment mechanism according to claim 1, characterized in that: A first positioning plane (511) is provided on the inner side of the driving sleeve (51), and a second positioning plane is provided on the outer side of the adjusting cylinder (20). The first positioning plane (511) and the second positioning plane are arranged relative to each other, so that when the driving sleeve (51) is rotated, the driving sleeve (51) drives the adjusting cylinder (20) to rotate through the combination of the first positioning plane (511) and the second positioning plane.

3. The adjustment mechanism according to claim 1, characterized in that: The positioning assembly (60) comprises a positioning plate, a plurality of first positioning holes (61) are provided on the positioning plate, and the plurality of first positioning holes (61) are arranged at intervals along the circumferential direction. The positioning portion (512) comprises a positioning protrusion (513), and the positioning protrusion (513) is plug-connected with the first positioning hole (61).

4. The adjustment mechanism according to claim 3, characterized in that: There are a plurality of positioning protrusions (513), and the plurality of positioning protrusions (513) are arranged at intervals along the circumferential direction, wherein the positioning protrusions (513) are conical structures, and the plurality of positioning protrusions (513) are arranged in a one-to-one correspondence with the plurality of first positioning holes (61), so as to be respectively inserted into the corresponding first positioning holes (61) for positioning.

5. The adjustment mechanism according to claim 1, characterized in that: The second threaded portion (22) and the third threaded portion (23) are arranged at intervals on the inner side of the adjusting cylinder (20) along the axial direction of the adjusting cylinder (20), and the threads of the second threaded portion (22) and the third threaded portion (23) have the same direction of rotation.

6. The adjustment mechanism according to claim 1, characterized in that: The adjusting rod (30) is further provided with a plurality of adjusting holes (32), and the plurality of adjusting holes (32) are arranged at intervals along the length direction of the adjusting rod (30). The adjusting mechanism further comprises a sliding block (33) and a latch, and the sliding block (33) is movably provided on the adjusting rod (30) to drive the claw assembly (40) to move, wherein a second positioning hole is provided on the sliding block (33), so that after the sliding block (33) moves to a preset position, the latch is sequentially inserted into the adjusting hole (32) and the second positioning hole to position the sliding block (33) on the adjusting rod (30).

7. A manipulator comprising an adjustment mechanism and a claw assembly (40), characterized in that: The clamping claw assembly (40) includes a plurality of clamping claws (41), and the plurality of clamping claws (41) move toward or away from each other, wherein the clamping claws (41) have an avoidance position and a gripping position, and the clamping claws (41) move between the avoidance position and the gripping position. The adjusting mechanism is connected to the plurality of clamping claws (41) so as to enable the clamping claw assembly (40) to grip tires of different sizes by adjusting the gripping position of the clamping claws (41). The adjusting mechanism is the adjusting mechanism according to any one of claims 1 to 6.

8. The robot according to claim 7, characterized in that: The manipulator further comprises: Fixed support (70); a lifting assembly (80), the lifting assembly (80) being movably disposed on the fixed support (70) to drive the claw assembly (40) to move upward and downward relative to the fixed support (70); A horizontal moving assembly (90) is provided on the lifting assembly (80) to drive the claw assembly (40) to move in a horizontal direction.

9. The robot according to claim 8, characterized in that: The horizontal moving component (90) includes: A rotating arm (91), the rotating arm (91) being hingedly connected to the lifting assembly (80); A first driving cylinder (92) is fixed to the lifting assembly (80), wherein a piston rod of the first driving cylinder (92) is hinged to one side of the rotating arm (91) to drive the rotating arm (91) to rotate horizontally relative to the lifting assembly (80).

10. The robot according to claim 9, characterized in that: The horizontal moving component (90) further includes: A second driving cylinder (93) is fixed on the rotating arm (91), and a piston rod of the second driving cylinder (93) is connected to the connecting sleeve (10) of the adjusting mechanism to drive the adjusting mechanism to move along the length direction of the rotating arm (91).

11. A vulcanizer, comprising a manipulator and a vulcanizer body, wherein the manipulator is used to grab a tire to feed the vulcanizer body or to remove a vulcanized tire from the vulcanizer body, and the vulcanizer is used to vulcanize the tire, characterized in that: The robot is the robot according to any one of claims 7 to 10.

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