A mechanical gripper and vulcanizing machine

Abstract

This invention discloses a robotic gripper-disc assembly mechanism, including a stationary disc, a moving disc, a swing arm, a claw assembly, a central seat, and a driving component. In use, the driving component drives the swing arm to rotate around its first end. The first end of the swing arm drives the moving disc to rotate, and the moving disc drives the claw assembly to move. Multiple claw connecting blocks of the claw assembly slide within multiple grooves, and these connecting blocks drive multiple grippers to move simultaneously. By arranging the central seat and placing the swing arm, moving disc, and stationary disc within it, friction is eliminated between the moving disc and the stationary disc during rotation. Furthermore, when multiple grippers move simultaneously, only the sliding of the claw connecting blocks within the grooves generates minimal friction. Therefore, the overall structure generates less friction during use, effectively reducing the maintenance cost of the robotic gripper-disc assembly mechanism. This invention also discloses a vulcanizing machine.

Description

Technical Field

[0001] This invention relates to the field of vulcanizing machine technology, and in particular to a mechanical gripper and a vulcanizing machine. Background Technology

[0002] The existing vulcanizing machine's robotic gripper assembly mechanism uses a cylinder-connected rod to drive the active slide plate, which in turn drives the grippers. Simultaneously, the active slide plate moves the connecting rod, which, along with the moving ring, drives the remaining driven slide plates, thus moving the remaining grippers and achieving simultaneous forward and backward movement of all grippers. However, this structure requires numerous machined parts with high precision, complex assembly relationships, high assembly difficulty, and high manufacturing costs. Due to the large number of contacting friction parts, the robotic gripper assembly is prone to wear during use due to the repeated opening and closing of the gripper assembly. Over time, this affects the gripping accuracy of the entire assembly, requiring operators to regularly check the wear condition of the gripper assembly and replace worn parts, significantly increasing the maintenance cost of the robotic gripper assembly mechanism.

[0003] Therefore, how to reduce the maintenance cost of the robotic gripper-disc combination mechanism is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the first objective of the present invention is to provide a robotic gripper-disc assembly mechanism to reduce the maintenance cost of the robotic gripper-disc assembly mechanism;

[0005] A second objective of this invention is to provide a vulcanizing machine.

[0006] To achieve the first objective mentioned above, the present invention provides the following technical solution:

[0007] A robotic gripper-disc assembly mechanism includes a stationary disk, a moving disk, a swing arm, a gripper assembly, a central base, and a drive component, wherein:

[0008] The stationary plate is fixed to the central seat and has multiple sliding grooves. The claw assembly includes multiple claw connecting blocks, which slide within the sliding grooves.

[0009] The gripper assembly also includes multiple grippers, which are connected to the gripper connecting block;

[0010] The movable plate is rotatably arranged on the central seat;

[0011] The chuck assembly is connected to the moving plate and moves with the moving plate;

[0012] The first end of the swing arm is connected to the moving plate and is used to drive the moving plate to rotate;

[0013] The drive unit is connected to the swing arm and is used to drive the swing arm to rotate around the first end of the swing arm.

[0014] Optionally, in the above-mentioned robotic gripper-disc assembly mechanism, the gripper assembly further includes a connecting rod, the first end of which is connected to the gripper connecting block, and the second end of which is connected to the moving disk.

[0015] Optionally, in the above-mentioned robotic gripper-disc combination mechanism, the robotic gripper-disc combination mechanism further includes an adjustment component, which is used to adjust the initial position of the swing arm.

[0016] Optionally, in the above-mentioned robotic gripper-disc combination mechanism, the adjustment component includes an adjustment rod, the first end of which is fixed to the stationary disk, and the second end of which is connected to the second end of the swing arm and rotates with the second end of the swing arm.

[0017] Optionally, in the above-mentioned robotic gripper-disc combination mechanism, the adjustment component further includes a first support member and a second support member. The first support member is used to fix the first end of the adjustment rod to the stationary disk. The top of the second support member is provided with a mounting hole, the second end of the adjustment rod is arranged through the mounting hole and slides inside the mounting hole, and the bottom of the second support member is connected to the second end of the swing arm.

[0018] Optionally, in the above-mentioned robotic gripper-disc combination mechanism, the adjustment component further includes a fixing plate, which is fixed to the stationary disk, and the first support member is fixed to the fixing plate.

[0019] Optionally, in the above-mentioned robotic gripper assembly mechanism, the adjusting component further includes a nut, the first end of the adjusting rod is a lead screw end, the nut fixes the first support member to the lead screw end, and the second end of the adjusting rod is a smooth rod end.

[0020] Optionally, in the above-mentioned robotic gripper-disc combination mechanism, the adjustment component further includes fixing rods, the number of which is three or more, with their first end connected to the fixing plate and their second end connected to the stationary disk.

[0021] Optionally, in the above-mentioned robotic gripper assembly mechanism, a reserved hole is provided on the fixed plate, the first end of the first support member is fixed to the first end of the adjusting rod, and the second end of the first support member is inserted into the reserved hole and rotates inside the reserved hole.

[0022] The robotic gripper-disc assembly mechanism provided by this invention, in use, involves a drive unit driving a swing arm to rotate around its first end. The first end of the swing arm drives a moving disk to rotate, which in turn drives a gripper assembly to move. Multiple gripper connecting blocks of the gripper assembly slide within multiple grooves, and these connecting blocks drive multiple grippers to move simultaneously. By arranging a central base and placing the swing arm, moving disk, and stationary disk on it, no friction is generated between the moving disk and the stationary disk during rotation. Furthermore, when multiple grippers move simultaneously, only the gripper connecting blocks sliding within the grooves generate minimal friction. Therefore, the overall structure generates less friction during use, effectively reducing the maintenance costs of the robotic gripper-disc assembly mechanism.

[0023] To achieve the second objective mentioned above, the present invention provides the following technical solution:

[0024] A vulcanizing machine includes a vulcanizing machine body and a robotic gripper assembly mechanism as described in any of the above claims.

[0025] The vulcanizing machine provided by the present invention has all the technical effects of the above-mentioned mechanical gripper and disc combination mechanism, which will not be repeated here. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a front view of the robotic gripper-disc assembly mechanism disclosed in an embodiment of the present invention;

[0028] Figure 2 This is a top view of the robotic gripper-disc assembly mechanism disclosed in an embodiment of the present invention;

[0029] Figure 3 This is a perspective view of the robotic gripper-disc assembly mechanism disclosed in an embodiment of the present invention;

[0030] in:

[0031] Static plate 100, slide 101;

[0032] 200 moving plate;

[0033] 300° swing arm;

[0034] 400 claw connecting block, 401 hand claw, 402 connecting rod;

[0035] Adjusting rod 500, first support 501, second support 502, fixing plate 503, nut 504, fixing rod 505;

[0036] Center seat 600. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without novelty are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be understood that the terms "upper," "lower," "top surface," "bottom surface," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] like Figures 1-3 As shown, the robotic gripper-disc assembly mechanism disclosed in this invention includes a stationary disk 100, a movable disk 200, a swing arm 300, a gripper assembly, a central seat 600, and a driving component. The stationary disk 100 is fixed to the central seat 600 and has multiple sliding grooves 101. The gripper assembly includes multiple gripper connecting blocks 400, which slide within the sliding grooves 101. The gripper assembly also includes multiple grippers 401 connected to the gripper connecting blocks 400. The movable disk 200 is rotatably arranged on the central seat 600. The gripper assembly is connected to the movable disk 200 and moves with the movable disk 200. The first end of the swing arm 300 is connected to the movable disk 200 to drive the movable disk 200 to rotate. The driving component is connected to the swing arm 300 to drive the swing arm 300 to rotate around the first end of the swing arm 300. Specifically, the driving components include, but are not limited to, cylinders, hydraulic cylinders, etc. The preferred driving components of this invention are cylinders and cylinder joint bearings. Other components that can drive the swing arm 300 are also within the scope of protection of this invention, and will not be described in detail here.

[0040] Furthermore, the slide groove 101 is a through groove extending from the center of the stationary disk 100 towards the edge. When the moving disk 200 rotates, it drives the claw connecting block 400 to move in a straight line in the slide groove 101. That is, when the moving disk 200 rotates in the first direction, the claw connecting block 400 moves in a straight line in the second direction in the slide groove 101. When the moving disk 200 rotates in the third direction, the claw connecting block 400 moves in a straight line in the fourth direction in the slide groove 101. The first direction is either forward or reverse rotation, and the third direction is either forward or reverse rotation. The second and fourth directions are two opposite directions in a straight line. The following description assumes that the first direction is forward rotation, at which time the claw connecting block 400 moves in the slide groove 101 in the second direction, and multiple claws 401 extend simultaneously. The third direction is reverse rotation, at which time the claw connecting block 400 moves in the slide groove 101 in the fourth direction, and multiple claws 401 retract simultaneously.

[0041] Furthermore, the center seat 600 is fixedly connected to the stationary plate 100, the center shaft is arranged in the middle of the moving plate 200, and the first end of the swing arm 300 is fixedly connected to the center shaft to drive the center shaft to rotate. The center shaft passes through the center seat 600 to arrange the stationary plate 100 between the moving plate 200 and the swing arm 300.

[0042] The robotic gripper-disc assembly mechanism provided by this invention, in use, drives the swing arm 300 to rotate around its first end. The first end of the swing arm 300 drives the moving disk 200 to rotate, which in turn drives the gripper assembly to move. Multiple gripper connecting blocks 400 of the gripper assembly slide within multiple sliding grooves 101, and these multiple gripper connecting blocks 400 drive multiple grippers 401 to move simultaneously. By arranging a central seat 600 and placing the swing arm 300, the moving disk 200 does not rub against the stationary disk 100 during rotation. Furthermore, when multiple grippers 401 move simultaneously, only the gripper connecting blocks 400 slide within the sliding grooves 101, generating minimal friction. Therefore, the overall structure generates less friction during use, effectively reducing the maintenance cost of the robotic gripper-disc assembly mechanism.

[0043] To optimize the above technical solution, the chuck assembly also includes a connecting rod 402. The first end of the connecting rod 402 is connected to the chuck connecting block 400, and the second end is connected to the moving disk 200. Specifically, the connecting rod 402 is a curved connecting rod, and when there are multiple chuck connecting blocks 400, the bending directions of the multiple connecting rods 402 are the same. In operation, when the moving disk 200 rotates in the first direction, it drives the second end of the connecting rod 402 to rotate. The first end of the connecting rod 402 drives the pawl connecting block 400 to rotate in the first direction, which in turn drives the pawl connecting block 400 to move along the slide groove 101 in the second direction, causing multiple pawls 401 to extend simultaneously. When the moving disk 200 rotates in the third direction, it drives the second end of the connecting rod 402 to rotate. The first end of the connecting rod 402 drives the pawl connecting block 400 to rotate in the third direction, which in turn drives the pawl connecting block 400 to move along the slide groove 101 in the fourth direction, causing multiple pawls 401 to retract simultaneously, thus realizing the simultaneous opening and closing of the robotic gripper disk. During this process, no friction occurs between the connecting rod 402, the moving disk 200, and the pawl connecting block 400; only a small area of ​​friction occurs between the pawl connecting block 400 and the slide groove 101. Therefore, the maintenance cost of the robotic gripper disk assembly mechanism can be effectively reduced.

[0044] To optimize the above technical solution, the robotic gripper-disc assembly also includes an adjustment component for adjusting the initial position of the swing arm 300. It should be noted that in existing technologies, the adjustment range of the initial position of the swing arm 300 is generally large, making fine-tuning impossible. This limits the size of tires that the robotic gripper can grasp. Therefore, by arranging an adjustment component that allows for fine-tuning of the initial position of the swing arm 300, the robotic gripper-disc assembly can be adapted to tires of more sizes, thereby expanding its applicability.

[0045] To optimize the above technical solution, the adjustment assembly includes an adjustment rod 500. The first end of the adjustment rod 500 is fixed to the stationary plate 100, and its second end is connected to the second end of the swing arm 300 and rotates with the second end of the swing arm 300. Specifically, the first and second ends of the adjustment rod 500 are on the same horizontal plane, and the distance between the first and second ends of the adjustment rod 500 is adjustable. Therefore, the adjustment methods for the distance between the first and second ends of the adjustment rod 500 include, but are not limited to, the adjustment rod 500 being a telescopic rod, where, when it is necessary to adjust the distance between its first and second ends, its second end is retracted or extended in the direction extending towards the first end; or the adjustment rod 500 being a long rod composed of multiple short rods, where, when it is necessary to adjust the distance between its first and second ends, short rods are removed or installed at its second end. Other methods that can achieve the adjustment of the distance between the first and second ends of the adjustment rod 500 are also within the scope of protection of this invention and will not be elaborated here.

[0046] It should be noted that after changing the distance between the first and second ends of the adjusting rod 500, the initial position of the swing arm 300 will change because the second end of the adjusting rod 500 is connected to the second end of the swing arm 300, and the first end of the adjusting rod 500 is fixed to the stationary plate 100. Since the positions of the moving plate 200, connecting rod 402, pawl connecting block 400, and gripper 401 all change under the action of the swing arm 300, changing the initial position of the swing arm 300 can change the moving position of the gripper 401, thereby making the robotic gripper-plate combination mechanism applicable to more tire sizes and further expanding the applicability of the robotic gripper-plate combination mechanism.

[0047] To optimize the above technical solution, the adjustment assembly further includes a first support member 501 and a second support member 502. The first support member 501 is used to fix the first end of the adjustment rod 500 to the stationary plate 100. The top of the second support member 502 has a mounting hole, through which the second end of the adjustment rod 500 passes and slides. The bottom of the second support member 502 is connected to the second end of the swing arm 300. Specifically, when the first support member 501 is directly arranged on the stationary plate 100, its top has a fixing hole for the first end of the adjustment rod 500 to pass through and be fixed. The bottom of the first support member 501 can rotate relative to the stationary plate 100. The height of the first support member 501 is adapted to the horizontal height of the second end of the adjustment rod 500 after it is arranged on the swing arm 300, so that the first and second ends of the adjustment rod 500 are on the same horizontal plane to ensure the stability of the adjustment assembly. Specifically, the bottom of the second support member 502 is rotatably connected to the second end of the swing arm 300.

[0048] In use, when the swing arm 300 drives the second support 502 to rotate, the second end of the adjusting rod 500 slides inside the mounting hole, the position of the first end of the adjusting rod 500 is fixed, and the second end of the adjusting rod 500 rotates around the first end of the adjusting rod 500.

[0049] To optimize the above technical solution, the adjustment assembly further includes a nut 504. The first end of the adjustment rod 500 is a lead screw end, and the nut 504 fixes the first support member 501 to the lead screw end. The second end of the adjustment rod 500 is a smooth rod end. Specifically, because the first support member 501 is fixedly connected to the first end of the adjustment rod 500 during the operation of the adjustment assembly, it is necessary to fix the first support member 501 to the first end of the adjustment rod 500. Preferably, this invention uses two nuts to clamp the first support member 501 in the middle to tighten the position of the first support member 501. With this arrangement, when it is necessary to adjust the distance between the first and second ends of the adjusting rod 500, the operator only needs to slide the first support 501 into the preset position in the fixing hole, and then use two nuts to place at both ends of the first support 501 and tighten them. By adjusting the position of the first support 501 at the first end of the adjusting rod 500, the distance between the first and second ends of the adjusting rod 500 can be changed, thereby changing the initial position of the swing arm 300. This allows the robotic gripper plate combination mechanism to be applicable to more tire sizes, expanding the applicability of the robotic gripper plate combination mechanism.

[0050] To optimize the above technical solution, the adjustment assembly further includes a fixing plate 503, which is fixed to the stationary plate 100, and the first support member 501 is fixed to the fixing plate 503. Specifically, in the same vertical direction, the fixing plate 503, the first end of the swing arm 300, the stationary plate 100, and the moving plate 200 are arranged sequentially from top to bottom, and the first support member 501 is fixed to the top of the fixing plate 503. By arranging the fixing plate 503, the height of the first support member 501 can be shortened, while simultaneously providing support for the first support member 501, thereby improving the structural stability of the adjustment assembly.

[0051] To optimize the above technical solution, the adjustment assembly further includes three or more fixing rods 505. The first end of each fixing rod is connected to the fixing plate 503, and the second end is connected to the stationary plate 100. Specifically, the fixing rods 505 are used to support the fixing plate 503 detached from the stationary plate 100, thereby giving the first support member 501 a certain height, and thus giving the first end of the adjustment rod 500 a certain height so that it is at the same horizontal plane as the second end of the adjustment rod 500, thereby improving the structural stability of the adjustment assembly.

[0052] To optimize the above technical solution, a pre-drilled hole is provided on the fixing plate 503. The first end of the first support member 501 is fixed to the first end of the adjusting rod 500, and the second end of the first support member 501 is inserted into the pre-drilled hole and rotates within the pre-drilled hole. In use, when the swing arm 300 rotates, it drives the second end of the first support member 501 to rotate within the pre-drilled hole. At the same time, the bottom of the second support member 502 rotates relative to the swing arm 300 to achieve overall coordination of the adjusting assembly.

[0053] The present invention also discloses a vulcanizing machine, including a vulcanizing machine body and a robotic gripper-disc assembly mechanism as described in any of the above. Since the robotic gripper-disc assembly mechanism has the aforementioned effects, the vulcanizing machine including this robotic gripper-disc assembly mechanism has corresponding effects, which will not be elaborated further here.

[0054] The advantages of this invention are:

[0055] (1) The small friction surface can effectively reduce the maintenance cost of the robotic gripper-disc combination mechanism;

[0056] (2) It has a wide range of applications and can be used for more tire sizes.

[0057] It should be noted that the robotic gripper and vulcanizing machine provided by this invention can be used in the field of vulcanizing machine technology or other fields. Other fields refer to any field other than the field of vulcanizing machine technology. The above are merely examples and do not limit the application areas of the robotic gripper and vulcanizing machine provided by this invention.

[0058] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0059] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0060] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0061] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A robotic gripper-disc combination mechanism, characterized in that, Includes stationary disc, moving disc, swing arm, chuck assembly, center seat, and drive unit, wherein: The stationary plate is fixed to the central seat and has multiple sliding grooves. The claw assembly includes multiple claw connecting blocks, which slide within the sliding grooves. The gripper assembly also includes multiple grippers, which are connected to the gripper connecting block; The movable disk is rotatably arranged on the central seat; The claw assembly is connected to the moving disk and moves with the moving disk; The first end of the swing arm is connected to the moving disk and is used to drive the moving disk to rotate; The driving component is connected to the swing arm and is used to drive the swing arm to rotate around the first end of the swing arm; The chuck assembly also includes a connecting rod, the first end of which is connected to the chuck connecting block, and the second end of which is connected to the moving disk; The robotic gripper assembly also includes an adjustment component for adjusting the initial position of the swing arm; The adjustment assembly includes an adjustment rod, the first end of which is fixed to the stationary plate, and the second end of which is connected to the second end of the swing arm and rotates with the second end of the swing arm. The adjustment assembly further includes a first support and a second support. The first support is used to fix the first end of the adjustment rod to the stationary plate. The top of the second support has a mounting hole, through which the second end of the adjustment rod passes and slides inside the mounting hole. The bottom of the second support is connected to the second end of the swing arm.

2. The robotic gripper-disc assembly mechanism as described in claim 1, characterized in that, The adjustment assembly further includes a fixing plate, which is fixed to the stationary plate, and the first support member is fixed to the fixing plate.

3. The robotic gripper-disc assembly mechanism as described in claim 1, characterized in that, The adjustment assembly also includes a nut, the first end of the adjustment rod is a lead screw end, the nut fixes the first support member to the lead screw end, and the second end of the adjustment rod is a smooth rod end.

4. The robotic gripper-disc combination mechanism as described in claim 2, characterized in that, The adjustment assembly also includes fixing rods, and the number of fixing rods is three or more, with the first end of the fixing rod connected to the fixing plate and the second end of the fixing rod connected to the stationary plate.

5. The robotic gripper-disc assembly mechanism as described in claim 2, characterized in that, The fixed plate has a reserved hole. The first end of the first support member is fixed to the first end of the adjusting rod. The second end of the first support member is inserted into the reserved hole and rotates inside the reserved hole.

6. A vulcanizing machine, comprising a vulcanizing machine body, characterized in that, It also includes the robotic gripper-disc combination mechanism as described in any one of claims 1-5.

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