Grabbing device, tire grabbing system and grabbing method

Abstract

This invention provides a gripping device, a tire gripping system, and a gripping method, solving the technical problems of high labor intensity and low work efficiency associated with manually transporting tires to a conveyor belt. The gripping device includes a support frame and a gripping assembly. The gripping assembly is located on the support frame and is movable in both horizontal and vertical directions. The gripping assembly includes a rotating frame, one or more sets of inner and outer grippers. The inner and outer grippers are located on the rotating frame, with the outer grippers positioned around the inner grippers. The inner grippers can extend between two objects to be gripped and cooperate with the corresponding outer grippers to clamp and fix the objects. The rotating frame is rotatable in a horizontal plane, driving the inner and outer grippers to rotate, thereby clamping and fixing at least two objects arranged on different straight lines. This replaces the previous manual handling and sorting process, improving work efficiency and reducing the labor intensity of personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile logistics, and in particular to a gripping device, a tire gripping system and a gripping method. Background Art

[0002] Assembly workshop automobile assembly line: The assembly workshop is the final stage of the automobile production process, completing the assembly of various automobile parts and assembling various automobile parts into a complete vehicle. The tire on-line system is part of the automobile assembly line, which is used to provide tires to the assembly line in sequence and rhythm.

[0003] In the prior art, whole pallets of different types of tires stacked in multiple layers are placed on the conveyor platform. Workers manually move the tires onto the conveyor belt according to the paper tire on-line sorting list provided by the final assembly line. The conveyor belt can transport the tires to the final assembly workshop for tire assembly.

[0004] The applicant has found that the prior art has at least the following technical problems: the above tire assembly method requires a lot of manpower, has high labor intensity, and has low work efficiency; and there is a certain probability that the tire model will be placed incorrectly, which affects the final assembly of the vehicle. Summary of the invention

[0005] The purpose of the present invention is to provide a gripping device, a tire gripping system and a gripping method to solve the technical problems existing in the prior art of manually carrying tires to a conveyor belt, which are labor-intensive and inefficient. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a grabbing device, comprising a support frame and a grabbing assembly, wherein:

[0008] The grabbing assembly is located on the supporting frame, and the grabbing assembly is movably arranged in the horizontal direction and the vertical direction;

[0009] The gripping assembly comprises a rotating frame, one or more sets of inner jaws and outer jaws, wherein the inner jaws and the outer jaws are located on the rotating frame, and the outer jaws are arranged at the periphery of the inner jaws, and the inner jaws can extend between two objects to be gripped and cooperate with the corresponding outer jaws to clamp and fix the objects to be gripped;

[0010] The rotating frame is rotatably arranged in a horizontal plane, and is used to drive the inner clamping jaw and the outer clamping jaw to rotate, so as to clamp and fix at least two objects to be grasped arranged on different straight lines.

[0011] Preferably, the grabbing assembly comprises a first driving device, wherein:

[0012] A driving gear is fixed on the output shaft of the first driving device, and a transmission gear is arranged on the rotating frame. The driving gear is meshed with the transmission gear to drive the rotating frame to rotate 360° around the axis of the transmission gear, thereby clamping and fixing the objects to be grasped arranged on two diagonals.

[0013] Preferably, the inner clamping jaws and the outer clamping jaws are respectively provided in two groups, and each group of the inner clamping jaws or the outer clamping jaws includes one or more than two;

[0014] The inner clamping jaw can be movably arranged in a direction approaching or away from the corresponding outer clamping jaw, and / or the outer clamping jaw can be movably arranged in a direction approaching or away from the corresponding inner clamping jaw.

[0015] Preferably, the gripping device comprises a second driving device, an outer guide rail and an outer fixing plate, wherein:

[0016] The outer clamping jaws in the same group are fixed on the same outer fixing plate, and the outer fixing plate is slidably connected to the outer guide rail. The telescopic end of the second driving device is connected to the corresponding outer fixing plate. When the second driving device is extended or retracted, it can drive the outer fixing plate to slide along the outer guide rail and be movable in the direction close to or away from the corresponding inner clamping jaws.

[0017] Preferably, the gripping device comprises a third driving device, an inner guide rail and an inner fixing plate, wherein:

[0018] The inner clamping jaws of the same group are fixed on the same inner fixing plate, and the inner fixing plate is slidably connected to the inner guide rail. The telescopic end of the third driving device is connected to the corresponding inner fixing plate. When the third driving device is extended or retracted, it can drive the inner fixing plate to slide along the inner guide rail and be movable in the direction close to or away from the corresponding outer clamping jaws.

[0019] Preferably, the grabbing device comprises a first frame, a second frame and a third frame located on the supporting frame, wherein:

[0020] The first frame is connected to the supporting frame and is movably arranged along the X-axis direction, the second frame is connected to the first frame and is movably arranged along the Y-axis direction, and the third frame is connected to the second frame and is movably arranged along the Z-axis direction; the rotating frame is rotatably connected to the lower part of the third frame.

[0021] Preferably, the grabbing device comprises an X-axis driving device and a driving shaft, wherein the X-axis driving device is fixed on the first frame and is drivingly connected to the driving shaft;

[0022] The support frame is provided with a first rack, the first rack is arranged along the X-axis direction, and the end of the driving shaft and the first rack are driven by a gear rack;

[0023] The support frame is provided with a first guide rail, the first frame body is provided with a first running wheel and / or a first slider, the first running wheel is rollingly connected to the corresponding first guide rail, and / or the first slider is slidingly connected to the corresponding first guide rail;

[0024] The grabbing device includes a Y-axis driving device, and the Y-axis driving device is fixed on the second frame;

[0025] The first frame is arranged horizontally, and a second rack is arranged on it, the second rack is arranged along the Y-axis direction, and the end of the Y-axis driving device and the second rack are driven by a gear rack;

[0026] The first frame is provided with a second guide rail, the second frame is provided with a second running wheel and / or a second slider, the second running wheel is rollingly connected to the corresponding second guide rail, and / or the second slider is slidingly connected to the corresponding second guide rail.

[0027] Preferably, the grasping device comprises a Z-axis driving device, and the Z-axis driving device is fixed on the second frame;

[0028] The third frame is vertically arranged, and a third rack is arranged on it. The third rack is arranged along the Z-axis direction, and the end of the Z-axis driving device is connected to the third rack through a gear rack transmission;

[0029] The third frame is provided with a guide column, the second frame is provided with a third walking wheel and / or a third sliding block, the third walking wheel is rollingly connected to the guide column, and / or the third sliding block is slidingly connected to the guide column.

[0030] The present invention provides a tire grabbing system, comprising a conveyor line, a conveyor belt, and a grabbing device according to any one of claims 1 to 8, wherein the grabbing device grabs a tire of a target model corresponding to the conveyor line and transports it to the conveyor belt;

[0031] The tire grabbing system also includes an identification unit and a control unit, wherein: the identification unit is used to identify the target model of tires on the conveyor line; the control unit is electrically connected to the identification unit and the grabbing device, and is used to control the grabbing device to grab the tire corresponding to the target model on the conveyor line and move it to the conveyor belt according to the signal of the identification unit.

[0032] The present invention also provides a gripping method based on the tire gripping system, the gripping method comprising:

[0033] Move the grabbing assembly horizontally to above the preset conveying line;

[0034] The grabbing assembly is moved in a vertical plane, so that the inner clamping jaws extend between two tires and cooperate with the corresponding outer clamping jaws to clamp and fix the tires and then transport them to the conveyor belt;

[0035] The rotating frame is rotated in a horizontal plane to drive the inner clamp and the outer clamp to rotate, so that the inner clamp and the outer clamp clamp clamp and fix at least two tires arranged on different straight lines, and transport the tires to the conveyor belt.

[0036] The gripping device, tire gripping system and gripping method provided by the present invention have the following beneficial effects compared with the prior art: the gripping device and the gripping assembly can move in the horizontal and vertical directions of the support frame, so as to be conveniently moved above the conveyor line and the conveyor belt, and descended onto the conveyor line and the conveyor belt to realize the gripping and transportation of the objects to be gripped; the inner clamping jaw can extend between two objects to be gripped, and cooperate with the corresponding outer clamping jaw, so that even if the objects to be gripped are closely arranged, the objects to be gripped can be conveniently clamped and fixed, and the rotating frame can rotate in the horizontal plane, so as to drive the inner clamping jaw and the outer clamping jaw to change the angle, and clamp and fix the objects to be gripped arranged on different straight lines, replacing the previous manual handling and sorting operation process, improving work efficiency and reducing personnel work intensity.

[0037] The tire grabbing system and grabbing method, because they are equipped with the grabbing device, replace the previous manual handling and sorting operation process, reduce the possibility of cross-operation between equipment and manual work, and improve the efficiency of tire sorting work, further saving labor costs and reducing labor work intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a schematic diagram of the overall structure of the grabbing device of the present invention;

[0040] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0041] Figure 3It is a structural schematic diagram of relative movement between the first frame and the supporting frame;

[0042] Figure 4 It is a schematic diagram of the coordination structure of the third frame, the second frame and the grabbing assembly;

[0043] Figure 5 This is a schematic diagram of the structure of one of the perspectives of the crawling component;

[0044] Figure 6 It is a structural diagram of the grabbing component from another perspective;

[0045] Figure 7 is a schematic diagram of the state of the gripping assembly before clamping the tire;

[0046] Figure 8 is a schematic diagram of the state in which the gripping assembly clamps and fixes the tire;

[0047] Fig. 9 It is a structural schematic diagram of the tire grabbing system of the present invention.

[0048] In the figure, 100, a gripping device; 200, a conveying line; 300, a conveyor belt; 400, a tire; 500, a pallet; 1, a supporting frame; 11, a first rack; 12, a first guide rail; 2, a gripping assembly; 20, a first driving device; 201, a driving gear; 202, a transmission gear; 21, a rotating frame; 22, an outer clamping jaw; 23, an inner clamping jaw; 24, a third driving device; 25, an inner fixing plate; 26, an inner guide rail; 27, a second driving device; 28, an outer guide Rail; 29, external fixing plate; 3, first frame; 31, second rack; 32, second guide rail; 4, second frame; 41, third rack; 5, third frame; 61, X-axis driving device; 62, driving shaft; 621, first gear; 63, first running wheel; 71, Y-axis driving device; 711, second gear; 72, second running wheel; 81, Z-axis driving device; 811, third gear; 82, third running wheel; 83, guide column; 9, buffer structure. DETAILED DESCRIPTION

[0049] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0050] In the description of the present invention, it should be understood that the terms "center", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "side" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0051] The embodiments of the present invention provide a gripping device, a tire gripping system and a gripping method, which can conveniently clamp and fix the objects to be gripped even if the objects to be gripped are closely arranged, thereby improving work efficiency and reducing the workload of personnel.

[0052] Combine the following Figure 1-Figure 9 The technical solution provided by the present invention is described in more detail.

[0053] Embodiment 1

[0054] like Figure 1-Figure 8 As shown, this embodiment provides a grasping device 100, including a supporting frame 1 and a grasping assembly 2, wherein: the grasping assembly 2 is located on the supporting frame 1, and the grasping assembly 2 is movably arranged in the horizontal direction and the vertical direction; the grasping assembly 2 includes a rotating frame 21, a group or more than two groups of inner jaws 23 and outer jaws 22, the inner jaws 23 and the outer jaws 22 are located on the rotating frame 21, the outer jaws 22 are arranged on the periphery of the inner jaws 23, the inner jaws 23 can extend between two objects to be grasped, and cooperate with the corresponding outer jaws 22 to clamp and fix the objects to be grasped; the rotating frame 21 is rotatably arranged in a horizontal plane, and is used to drive the inner jaws 23 and the outer jaws 22 to rotate, so as to clamp and fix at least two objects to be grasped arranged on different straight lines.

[0055] The gripping device 100 may be applied to a tire gripping system, the object to be gripped may be a tire 400, and the gripping assembly 2 may grip one or two tires 400 at a time.

[0056] The grabbing device 100 of this embodiment, the grabbing component 2 can move in the horizontal direction and the vertical direction of the support frame, so as to be conveniently moved above the conveyor line 200 and the conveyor belt 300, and descended onto the conveyor line 200 and the conveyor belt 300 to achieve the grabbing and transportation of the object to be grabbed.

[0057] See also Figure 7-Figure 9 As shown, a pallet 500 is usually provided on the conveyor line 200 of the tire grabbing system, and the stacked tires 400 are placed on the pallet 500. Figure 7and Figure 8 As shown, the tires 400 on each tray 500 are usually arranged closely, and it is difficult for the robot arm and other structures in the prior art to extend between two horizontally or vertically placed tires 400 to clamp and fix the tires.

[0058] For details, see Figure 7 and Figure 8 The inner clamping jaw 23 can extend between two objects to be grasped that are arranged diagonally, and the rotating frame 21 is rotatably arranged in a horizontal plane, so that the inner clamping jaw 23 and the outer clamping jaw 22 can be rotated to clamp and fix at least two objects to be grasped that are arranged on different diagonals.

[0059] In the gripping device 100 of this embodiment, the inner clamping jaw 23 can extend between two objects to be gripped (such as tires 400) arranged diagonally. The space between the two objects to be gripped arranged diagonally is large, which is convenient for lowering the inner clamping jaw 23. The inner clamping jaw 23 cooperates with the corresponding outer clamping jaw 22, and even if the objects to be gripped are closely arranged, the objects to be gripped can be conveniently clamped and fixed. The rotating frame 21 can rotate in the horizontal plane, which is convenient for driving the inner clamping jaw 23 and the outer clamping jaw 22 to change angles, and clamp and fix the objects to be gripped arranged on another diagonal line. Figure 7 and Figure 8 As shown, after the tires on one diagonal line are grabbed and transported, the rotating frame 21 rotates to grab and transport the tires on the other diagonal line; the above device replaces the previous manual handling and sorting operation process, improves work efficiency, and reduces the workload of personnel.

[0060] As an alternative embodiment, see Figure 4-Figure 6 As shown, the grabbing assembly 2 of this embodiment includes a first driving device 20, wherein: a driving gear 201 is fixed on the output shaft of the first driving device 20, a transmission gear 202 is arranged on the rotating frame 21, the driving gear 201 and the transmission gear 202 are both arranged horizontally, and the driving gear 201 is meshed with the transmission gear 202 to drive the rotating frame 21 to rotate 360° around the axis of the transmission gear 202, thereby clamping and fixing the objects to be grabbed arranged on two diagonals.

[0061] See also Figure 5 and Figure 6 As shown, the first driving device 20 can be a motor, which drives the driving gear 201 to rotate, thereby driving the transmission gear 202 to rotate. Since the transmission gear 202 is connected to the rotating frame 21, the rotating frame 21 can rotate 360° around the axis of the transmission gear 202. Figure 7 and Figure 8As shown, after the inner clamping jaws 23 and the outer clamping jaws 22 have completed grabbing and transporting the tires on one diagonal line, the rotating frame 21 rotates to grab and transport the tires on the other diagonal line, thereby fixing and transporting the tires on the entire pallet.

[0062] As an alternative embodiment, see Figure 5 and Figure 6 In this embodiment, two groups of inner jaws 23 and outer jaws 22 are correspondingly arranged, and each group of inner jaws 23 or outer jaws 22 includes one or more than two. In the figure, each group of inner jaws 23 or outer jaws 22 includes two. All outer jaws 22 surround the outer side of the inner jaws 23 to simultaneously clamp and fix at least two objects to be grasped arranged on two diagonals; the inner jaws 23 can be movably arranged in a direction close to or away from the corresponding outer jaws 22, and / or the outer jaws 22 can be movably arranged in a direction close to or away from the corresponding inner jaws 23.

[0063] When the grabbing assembly 2 moves above the conveyor belt, the grabbing assembly 2 moves vertically downward. Figure 7 As shown, the inner clamping jaw 23 extends between two objects to be grasped (such as tires 400) arranged diagonally, and the outer clamping jaw 22 is located outside the object to be grasped (such as tires 400); see Figure 8 At this time, the inner jaw 23 moves in a direction close to the corresponding outer jaw 22, and the outer jaw 22 moves in a direction close to the corresponding inner jaw 23. The inner jaw 23 cooperates with the corresponding outer jaw 22 to clamp and fix the object to be grasped (such as tire 400), thereby transporting the object to be grasped (such as tire 400).

[0064] When the inner jaw 23 moves in a direction away from the corresponding outer jaw 22 , the outer jaw 22 moves in a direction away from the corresponding inner jaw 23 , and the inner jaw 23 cooperates with the corresponding outer jaw 22 to release the object to be grasped (such as a tire).

[0065] This embodiment provides a specific implementation method in which the outer clamping jaw 22 can be moved. Figure 5 and Figure 6 As shown, the grasping device 100 includes a second driving device 27, an outer guide rail 28 and an outer fixing plate 29, wherein: the same group of outer clamping jaws 22 are fixed on the same outer fixing plate 29, the outer fixing plate 29 is slidably connected to the outer guide rail 28, the telescopic end of the second driving device 27 is connected to the corresponding outer fixing plate 29, and the second driving device 27 can drive the outer fixing plate 29 to slide along the outer guide rail 28 when extending or contracting, and is movably arranged in the direction of approaching or moving away from the corresponding inner clamping jaw 23.

[0066] The second driving device 27 may be a telescopic cylinder, see Figure 6The telescopic end of the second driving device 27 is arranged away from the inner clamping jaw 23. When the telescopic end of the second driving device 27 is extended, the outer fixing plate 29 is pushed to move along the outer guide rail 28 in the direction away from the inner clamping jaw 23, thereby driving the outer clamping jaw 22 to move in the direction away from the inner clamping jaw 23; when the telescopic end of the second driving device 27 is retracted, the outer fixing plate 29 is pulled to move along the outer guide rail 28 in the direction close to the inner clamping jaw 23, thereby driving the outer clamping jaw 22 to move in the direction close to the inner clamping jaw 23, thereby realizing the release and grasping of the object to be grasped.

[0067] This embodiment provides a specific implementation method in which the inner clamping jaw 23 is movable. Figure 5 and Figure 6 As shown, the grasping device 100 includes a third driving device 24, an inner guide rail 26 and an inner fixed plate 25, wherein: the inner jaws 23 of the same group are fixed on the same inner fixed plate 25, the inner fixed plate 25 is slidably connected to the inner guide rail 26, the telescopic end of the third driving device 24 is connected to the corresponding inner fixed plate 25, and the third driving device 24 can drive the inner fixed plate 25 to slide along the inner guide rail 26 when extending or contracting, and is movably arranged in the direction of approaching or moving away from the corresponding outer jaws 22.

[0068] The third driving device 24 may be a telescopic cylinder, see Figure 6 The telescopic end of the third driving device 24 is arranged toward the corresponding inner clamping jaw 23. When the telescopic end of the third driving device 24 is extended, the inner fixing plate 25 is pushed to move along the inner guide rail 26 toward the direction close to the outer clamping jaw 22, thereby driving the inner clamping jaw 23 to move toward the direction close to the outer clamping jaw 22, thereby achieving the grasping of the object to be grasped; when the telescopic end of the third driving device 24 is retracted, the inner fixing plate 25 is pulled to move along the inner guide rail 26 toward the direction away from the outer clamping jaw 22, thereby driving the inner clamping jaw 23 to move toward the direction away from the outer clamping jaw 22, thereby achieving the release of the object to be grasped.

[0069] The outer guide rail 28 and the inner guide rail 26 are both horizontal guide rails. A slider matching with the outer guide rail 28 is disposed on the corresponding outer fixing plate 29 , and a slider matching with the inner guide rail 26 is disposed on the corresponding inner fixing plate 25 .

[0070] The grabbing assembly 2 in this embodiment is movable in the horizontal direction and the vertical direction. For details, see Figure 1-Figure 4 As shown, the grasping device 100 includes a first frame 3, a second frame 4 and a third frame 5 located on a supporting frame 1, wherein: the first frame 3 is connected to the supporting frame 1 and is movably arranged along the X-axis direction, the second frame 4 is connected to the first frame 3 and is movably arranged along the Y-axis direction, and the third frame 5 is connected to the second frame 4 and is movably arranged along the Z-axis direction; the rotating frame 21 is rotatably connected to the lower part of the third frame 5.

[0071] The first frame 3 and the second frame 4 drive the grabbing assembly 2 to move in the horizontal direction, so that the grabbing assembly 2 moves above the conveyor line 200 or the conveyor belt 300; the third frame 5 drives the grabbing assembly 2 to move in the vertical direction, so that the grabbing assembly 2 moves up or down.

[0072] This embodiment provides a specific implementation method in which the first frame 3 can be moved along the X-axis direction. Figure 1-Figure 3 As shown, the grasping device 100 includes an X-axis driving device 61 and a driving shaft 62. The X-axis driving device 61 is fixed on the first frame 3 and is in transmission connection with the driving shaft 62. The end of the driving shaft 62 is provided with a first gear 621; the support frame 1 is provided with a first rack 11, the first rack 11 is arranged along the X-axis direction, the first gear 621 is meshed with the first rack 11, and the end of the driving shaft 62 is transmitted to the first rack 11 through a gear rack; see Figure 3 A first guide rail 12 is provided on the support frame 1, and a first running wheel 63 and / or a first slider is provided on the first frame body 3. The first running wheel 63 is rollingly connected to the corresponding first guide rail 12, and / or the first slider is slidingly connected to the corresponding first guide rail 12.

[0073] See also Figure 1 The X-axis driving device 61 includes a first motor and a reducer connected thereto, the output end of the reducer is connected to the driving shaft 62, when the X-axis driving device 61 drives the driving shaft 62 to rotate, the first gear 621 rotates, so that the entire first frame 3 moves along the first rack 11. Figure 3 When the entire first frame 3 moves along the first rack 11, the first walking wheel 63 rolls in the first guide rail 12 to provide support and reduce friction, thereby facilitating smooth movement of the first frame 3.

[0074] See also Figure 1 As shown, a buffer structure 9 is provided at the end corner of the support frame 1 to prevent the first frame body 3 from sliding off the support frame 1 and to prevent the first frame body 3 from colliding with an external structure.

[0075] This embodiment provides a specific implementation in which the second frame 4 can be moved along the Y-axis direction. Figure 1 , Figure 2As shown, the grasping device 100 includes a Y-axis driving device 71, which is fixed on the second frame 4, and a second gear 711 is provided at the output end of the Y-axis driving device 71; the first frame 3 is horizontally arranged, and a second rack 31 is arranged thereon, and the second rack 31 is arranged along the Y-axis direction, the second rack 31 is meshed with the second gear 711, and the end of the Y-axis driving device 71 is transmitted to the second rack 31 through a gear rack; a second guide rail 32 is arranged on the first frame 3, and a second running wheel 72 and / or a second slider is arranged on the second frame 4, and the second running wheel 72 is rollingly connected to the corresponding second guide rail 32, and / or the second slider is slidingly connected to the corresponding second guide rail 32.

[0076] The Y-axis driving device 71 includes a second motor, see Figure 1 and Figure 2 When the output shaft of the Y-axis driving device 71 rotates, the second gear 711 rotates, so that the entire second frame 4 moves along the second rack 31 on the first frame 3. Figure 2 When the entire second frame 4 moves along the second rack 31, the second walking wheel 72 rolls in the second guide rail 32, playing a role of supporting and reducing friction, thereby facilitating the smooth movement of the second frame 4.

[0077] This embodiment provides a specific implementation in which the third frame 5 can be moved along the Z-axis direction. Figure 1-Figure 4 As shown, the grasping device 100 includes a Z-axis driving device, the Z-axis driving device 81 is fixed on the second frame 4, and the output end of the Z-axis driving device 81 is fixed with a third gear 811; the third frame 5 is vertically arranged, and a third rack 41 is arranged thereon, the third rack 41 is arranged along the Z-axis direction, the third rack 41 is meshed with the third gear 811, and the end of the Z-axis driving device 81 is transmitted to the third rack 41 through a gear rack; a guide column 83 is arranged on the third frame 5, and a third walking wheel 82 and / or a third slider are arranged on the second frame 4, the third walking wheel 82 is rollingly connected to the guide column 83, and / or the third slider is slidingly connected to the guide column 83.

[0078] The Z-axis driving device 81 includes a third motor, see Figure 4 When the output shaft of the Z-axis driving device 81 rotates, the third gear 811 rotates, thereby causing the entire third frame 5 to move vertically. Figure 4 The entire third frame 5 moves vertically, and the third walking wheel 82 rolls along the guide column 83. The guide column 83 plays a supporting and guiding role, which facilitates the smooth movement of the third frame 5.

[0079] The gripping device 100 of this embodiment, when carrying a tire, the gripping assembly 2 moves in the horizontal and vertical directions of the support frame, so as to be conveniently moved above the conveyor line 200 and descended onto the conveyor line 200, the third frame 5 drives the gripping assembly 2 to descend, the inner clamping jaw 23 and the corresponding outer clamping jaw 22 move away from each other, the inner clamping jaw 23 extends between two objects to be gripped arranged diagonally, the inner clamping jaw 23 and the corresponding outer clamping jaw 22 approach each other, the inner clamping jaw 23 cooperates with the corresponding outer clamping jaw 22 to clamp and fix the tire to be gripped; after the tire is successfully gripped, the gripping assembly 2 moves to the tire feeding point (such as Fig. 9 The conveyor belt 300 shown in the figure releases the tire. Then it moves to the top of the conveyor line 200, and the rotating frame 21 rotates to grab and carry the tire 400 on the other diagonal line; the grabbing assembly 2 can perform the operation of 1 to 2 tires 400 each time.

[0080] Embodiment 2

[0081] This embodiment provides a tire gripping system. Figure 1 and Fig. 9 As shown, the tire grabbing system includes a conveyor line 200 , a conveyor belt 300 and the grabbing device 100 . The grabbing device 100 grabs the tire of the target model on the conveyor line 200 and transports it to the conveyor belt 300 .

[0082] The tire grabbing system of this embodiment, because it is equipped with the grabbing device 100, replaces the previous manual handling and sorting operation process, reduces the possibility of cross-operation between equipment and manual work, improves the efficiency of tire sorting work, further saves labor costs, and reduces labor work intensity.

[0083] As an optional implementation, the tire grabbing system of this embodiment also includes an identification unit and a control unit, wherein: the identification unit is used to identify the target model of tires on the conveyor line 200; the control unit is electrically connected to the identification unit and the grabbing device 100, and is used to control the grabbing device 100 to grab the tire of the target model on the corresponding conveyor line 200 according to the signal of the identification unit, and transport it to the conveyor belt 300.

[0084] Specifically, the scheduling system displays the type of tires that need to be supplied to the conveying system on the display unit according to the current tire sorting list. The tires are carried on pallets, and 28 tires are placed on a pallet, 4 tires per layer, and divided into 7 layers. Of course, it is not limited to the above number, and the height and diameter of the tires are not fixed; the scheduling system splits the sorting list and sends the grabbing task to the control unit. The control unit controls the grabbing device 100 to perform the grabbing and delivery of tires, such as using target tracking and visual technology. Specifically, the display unit identifies the target model of tires on the conveyor line 200 and transmits the signal to the control unit. The control unit controls the grabbing device 100 to grab the corresponding target model of tires 400 on the conveyor line 200 according to the signal of the identification unit, and transports it to the conveyor belt 300.

[0085] Embodiment 3

[0086] This embodiment provides a gripping method based on the tire gripping system, and the gripping method includes:

[0087] Move the grabbing assembly 2 horizontally to above the preset conveying line 200;

[0088] The gripping assembly 2 is moved in a vertical plane, so that the inner clamping jaw 23 extends between the two tires and cooperates with the corresponding outer clamping jaw 22 to clamp and fix the tire and then transport it to the conveyor belt 300;

[0089] The rotating frame 21 rotates in a horizontal plane, driving the inner clamping jaws 23 and the outer clamping jaws 22 to rotate, so that the inner clamping jaws 23 and the outer clamping jaws 22 clamp and fix at least two tires arranged on different straight lines, and transport the tires to the conveyor belt 300.

[0090] The tire grabbing method is provided with the grabbing device 100. After the grabbing and transporting of the tires on one diagonal line is completed, the rotating frame 21 rotates to grab and transport the tires on the other diagonal line. The device replaces the previous manual transport and sorting operation process, improves work efficiency, and reduces the workload of personnel.

[0091] In the description of this specification, specific features, structures or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0093] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A gripping device, characterized in that: It includes a support frame and a grab assembly, wherein: The grabbing assembly is located on the supporting frame, and the grabbing assembly is movably arranged in the horizontal direction and the vertical direction; The gripping assembly comprises a rotating frame, one or more sets of inner jaws and outer jaws, wherein the inner jaws and the outer jaws are located on the rotating frame, and the outer jaws are arranged at the periphery of the inner jaws, and the inner jaws can extend between two objects to be gripped and cooperate with the corresponding outer jaws to clamp and fix the objects to be gripped; The rotating frame is rotatable in a horizontal plane, and is used to drive the inner clamping jaw and the outer clamping jaw to rotate, so as to clamp and fix at least two objects to be grasped arranged on different straight lines; The grabbing assembly includes a first driving device, wherein: a driving gear is fixed on the output shaft of the first driving device, a transmission gear is arranged on the rotating frame, and the driving gear is meshed with the transmission gear to drive the rotating frame to rotate 360° around the axis of the transmission gear, thereby clamping and fixing the objects to be grabbed arranged on two diagonals; The inner clamping jaws and the outer clamping jaws are respectively provided with two groups, and each group of the inner clamping jaws or the outer clamping jaws includes one or more than two; The inner clamping jaw can be arranged to be movable in a direction approaching or away from the corresponding outer clamping jaw, and / or the outer clamping jaw can be arranged to be movable in a direction approaching or away from the corresponding inner clamping jaw; The gripping device comprises a second driving device, an outer guide rail and an outer fixing plate, wherein: the outer clamping jaws of the same group are fixed on the same outer fixing plate, the outer fixing plate is slidably connected to the outer guide rail, the telescopic end of the second driving device is connected to the corresponding outer fixing plate, and the second driving device can drive the outer fixing plate to slide along the outer guide rail when extending or contracting, and can be moved in a direction close to or away from the corresponding inner clamping jaw; The grabbing device comprises a third driving device, an inner guide rail and an inner fixing plate, wherein: The inner clamping jaws of the same group are fixed on the same inner fixing plate, and the inner fixing plate is slidably connected to the inner guide rail. The telescopic end of the third driving device is connected to the corresponding inner fixing plate. When the third driving device is extended or retracted, it can drive the inner fixing plate to slide along the inner guide rail and be movable in the direction close to or away from the corresponding outer clamping jaws.

2. The gripping device according to claim 1, characterized in that: The grabbing device comprises a first frame, a second frame and a third frame located on the supporting frame, wherein: The first frame is connected to the supporting frame and is movably arranged along the X-axis direction, the second frame is connected to the first frame and is movably arranged along the Y-axis direction, and the third frame is connected to the second frame and is movably arranged along the Z-axis direction; the rotating frame is rotatably connected to the lower part of the third frame.

3. The gripping device according to claim 2, characterized in that: The grabbing device comprises an X-axis driving device and a driving shaft, wherein the X-axis driving device is fixed on the first frame and is drivingly connected to the driving shaft; The support frame is provided with a first rack, the first rack is arranged along the X-axis direction, and the end of the driving shaft and the first rack are driven by a gear rack; The support frame is provided with a first guide rail, the first frame body is provided with a first running wheel and / or a first slider, the first running wheel is rollingly connected to the corresponding first guide rail, and / or the first slider is slidingly connected to the corresponding first guide rail; The grabbing device includes a Y-axis driving device, and the Y-axis driving device is fixed on the second frame; The first frame is arranged horizontally, and a second rack is arranged on it, the second rack is arranged along the Y-axis direction, and the end of the Y-axis driving device and the second rack are driven by a gear rack; The first frame is provided with a second guide rail, the second frame is provided with a second running wheel and / or a second slider, the second running wheel is rollingly connected to the corresponding second guide rail, and / or the second slider is slidingly connected to the corresponding second guide rail.

4. The gripping device according to claim 2, characterized in that: The grabbing device includes a Z-axis driving device, and the Z-axis driving device is fixed on the second frame; The third frame is vertically arranged, and a third rack is arranged on it. The third rack is arranged along the Z-axis direction, and the end of the Z-axis driving device is connected to the third rack through a gear rack transmission; The third frame is provided with a guide column, the second frame is provided with a third walking wheel and / or a third sliding block, the third walking wheel is rollingly connected to the guide column, and / or the third sliding block is slidingly connected to the guide column.

5. A tire gripping system, characterized in that: It comprises a conveyor line, a conveyor belt and a grabbing device as described in any one of claims 1 to 4, wherein the grabbing device grabs a tire of a target model corresponding to the conveyor line and transports it to the conveyor belt; The tire grabbing system also includes an identification unit and a control unit, wherein: the identification unit is used to identify the target model of tires on the conveyor line; the control unit is electrically connected to the identification unit and the grabbing device, and is used to control the grabbing device to grab the tire corresponding to the target model on the conveyor line and move it to the conveyor belt according to the signal of the identification unit.

6. A gripping method based on the tire gripping system according to claim 5, characterized in that: The crawling method includes: Move the grabbing assembly horizontally to above the preset conveying line; The grabbing assembly is moved in a vertical plane, so that the inner clamping jaws extend between two tires and cooperate with the corresponding outer clamping jaws to clamp and fix the tires and then transport them to the conveyor belt; The rotating frame is rotated in a horizontal plane to drive the inner clamp and the outer clamp to rotate, so that the inner clamp and the outer clamp clamp clamp and fix at least two tires arranged on different straight lines, and transport the tires to the conveyor belt.

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