A robotic gripper for safely destacking tires

Abstract

The present invention discloses a robotic arm fixture for safely destacking tires. The fixture comprises a connecting frame, a fixed plate, a cylinder, a guide tube, a piston sleeve, and at least three clamping rod assemblies. The fixed plate is fixed to the connecting frame, the guide tube is vertically fixed in the middle of the fixed plate, the piston rod of the cylinder passes through the guide tube, the piston sleeve slides over the guide tube, the piston rod of the cylinder is connected to the end of the piston sleeve, the clamping rod assemblies are evenly arranged around a circumference, a guide rail is provided on the surface of the fixed plate corresponding to each clamping rod assembly, the clamping rod assembly comprises a clamping rod and at least two support rods, the clamping rod is arranged parallel to the piston sleeve, the end of the clamping rod is slidably connected to the guide rail, the support rod is arranged parallel to the support rod, and the two ends of the support rod are respectively hinged to the clamping rod and the piston sleeve. The clamping rod, the support rod, and the piston sleeve form at least one parallelogram structure. The clamping rod is used to pass through the central hole of the tire and expand outward to support the inner side of the tire. The present invention can more safely and stably destacking tires.

Description

Technical Field

[0001] The invention relates to the field of automatic tire destacking, and in particular to a robot clamp for safely destacking tires. Background Art

[0002] In the automated tire conveying industry, tire stacking and destacking are often necessary. Stacking involves stacking individual tires into stacks according to process requirements for easier storage and transportation. Destacking involves removing tires from the stacks and placing them on the conveyor line. Because tires are relatively heavy, safety and stability are crucial during the destacking process. The clamps used to hold the tires in place significantly impact safety and stability during the destacking process.

[0003] The existing clamps for destacking tires are basically embracing clamps, which lift the tire by gripping the outer side of the tire with peripheral clamps. Sufficient space needs to be reserved when the peripheral clamps are opened, resulting in a large space occupied by the clamps. In addition, the clamps are cantilevered. Due to the heavy weight of the tire, the clamping force is easily insufficient, resulting in the tire detaching, and the safety and stability are poor. Summary of the Invention

[0004] The object of the present invention is to provide a robot clamp for safely destacking tires, which can destacking tires more safely and stably.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A robot arm clamp for safely destacking tires, characterized in that it includes a connecting frame, a fixing plate, a cylinder, a guide tube, a piston sleeve and at least three groups of clamping rod assemblies, the connecting frame is used to be fixedly connected to the end of the robot arm, the fixing plate is fixed on the connecting frame, the guide tube is vertically fixed in the middle of the fixing plate, the cylinder is mounted on the fixing plate and the piston rod of the cylinder passes through the guide tube, the piston sleeve is slidably sleeved on the guide tube, the piston rod of the cylinder and the end of the piston sleeve are connected by a connecting piece, the clamping rod assemblies are evenly arranged around a circumference, the center of the circumference coincides with the center of the guide tube, the surface of the fixing plate is respectively provided with a guide rail corresponding to each group of clamping rod assemblies, and the length direction of the guide rail is the radial direction of the guide tube;

[0007] The clamping rod assembly includes a clamping rod and at least two support rods. The clamping rod is arranged parallel to the piston sleeve. The end of the clamping rod is slidably connected to the guide rail. The support rods are arranged parallel to each other. The two ends of the support rod are hinged to the clamping rod and the piston sleeve respectively. The clamping rod, the support rod and the piston sleeve form at least one parallelogram structure. The clamping rod is used to pass through the middle hole of the tire and expand outward to support the inner side of the tire.

[0008] Preferably, when the clamping rod moves outward to support the inner side of the tire, the support rod and the clamping rod are perpendicular to each other, and are also perpendicular to the piston sleeve.

[0009] Preferably, the connecting part includes a threaded connecting rod and an adjusting cover, the adjusting cover is connected to the end of the piston sleeve, a threaded hole is provided in the middle of the adjusting cover, the threaded connecting rod is passed through the guide tube, the inner end of the threaded connecting rod is connected to the piston rod of the cylinder, and the outer end of the threaded connecting rod is threadedly connected to the threaded hole. The connection position relationship between the piston sleeve and the piston rod of the cylinder can be adjusted by rotating the adjusting cover.

[0010] Preferably, the clamping rod includes a support plate and a reinforcement plate, the support plate faces outward, the reinforcement plate is fixed to the inner surface of the support plate, the reinforcement plate is perpendicular to the support plate, and the support rod is hinged to the reinforcement plate.

[0011] Preferably, the outer surface of the support plate is provided with a plurality of transverse slots, and the slots are evenly arranged along the length direction of the support plate.

[0012] Preferably, elbow joints are fixed to both ends of the support rod, and the two ends of the support rod are hinged to the clamping rod and the piston sleeve through the elbow joints.

[0013] Preferably, a connecting ear is provided on the side wall of the piston sleeve corresponding to each support rod, and the elbow joint is hinged to the connecting ear.

[0014] Preferably, a slider is provided at the end of the clamping rod close to the guide rail, and the slider is slidably connected to the guide rail.

[0015] Preferably, a notch is provided on the inner edge of the clamping rod at a position corresponding to the end of the support rod, and the notch is used to avoid the end of the support rod.

[0016] Preferably, the connecting frame includes a flange and a plurality of connecting rods, the flange is fixedly connected to the fixing plate through the connecting rods, and the flange is used to be fixedly connected to the end of the robot arm.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention drives the surrounding clamping rod assemblies to expand and retract through a stable piston sleeve. During destacking, the clamping rod assembly is inserted into the middle hole of the tire. The piston sleeve drives the surrounding clamping rods to move and expand outward through the support rod, supporting the inner side of the tire to clamp the tire. The clamping rod, support rod and piston sleeve used for clamping form a stable parallelogram structure. The lateral thrust of the clamping rod is uniform and can be stably supported on the inner side of the tire. The tire is not easy to fall off, making the destacking of the tire more stable and safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is one of the three-dimensional schematic diagrams of the robot arm fixture according to an embodiment of the present invention;

[0020] Figure 2This is a second three-dimensional schematic diagram of a robot arm fixture according to an embodiment of the present invention;

[0021] Figure 3 is a schematic cross-sectional view of a robot arm clamp according to an embodiment of the present invention, wherein the clamping rod is retracted toward the middle;

[0022] Figure 4 2 is a schematic structural diagram of a robot arm clamping a tire according to an embodiment of the present invention.

[0023] Meaning of the reference numerals in the figure:

[0024] 1-Connecting frame; 1.1-Flange; 1.2-Connecting rod; 2-Cylinder; 2.1-Piston rod; 3-Fixed plate; 3.1-Middle hole; 4-Guide rail; 5-Slider; 6-Mounting support; 7-Guide tube; 8-Clamping rod; 8.1-Support plate; 8.1.1-Slot; 8.2-Reinforcement plate; 8.2.1-Notch; 8.3-Connecting plate; 9-Support rod; 10-Piston sleeve; 11-Elbow joint; 12-Pin shaft; 13-Adjusting cover; 14-Threaded connecting rod; 15-Tire; 16-Connecting ear. DETAILED DESCRIPTION

[0025] The present invention is further described below with reference to the embodiments.

[0026] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0027] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0029] Example:

[0030] like Figures 1 to 3The figure shows a robotic clamp for safely destacking tires according to this embodiment, which includes a connecting frame 1, a fixing plate 3, a cylinder 2, a guide tube 7, a piston sleeve 10 and at least three groups of clamping rod assemblies. In this embodiment, four groups of clamping rod assemblies are provided.

[0031] Connecting frame 1 is used for fixed connection to the end of the robot arm. Connecting frame 1 includes a flange 1.1 and multiple connecting rods 1.2. In this embodiment, four connecting rods 1.2 are provided. Flange 1.1 is bolted to fixing plate 3 via connecting rods 1.2. Flange 1.1 is used to fix the end of the robot arm with bolts. Flange 1.1 is parallel to fixing plate 3 and both flange 1.1 and fixing plate 3 are disc-shaped.

[0032] A middle hole 3.1 is provided in the middle of the fixing plate 3, and a mounting support 6 is provided on the end face of the middle hole 3.1 away from the flange 1.1. The mounting support 6 is a circular pipe sleeve, and the end of the guide tube 7 is fixedly inserted on the mounting support 6. The guide tube 7 is perpendicular to the fixing plate 3, and the center of the guide tube 7 coincides with the center of the middle hole 3.1.

[0033] Cylinder 2 is fixedly mounted on the surface of fixed plate 3 facing flange 1.1. Its piston rod 2.1 passes through central hole 3.1 and into guide tube 7, where it moves along the guide tube 7. A piston sleeve 10 slides over the guide tube 7. The ends of the piston rod 2.1 and piston sleeve 10 are connected via connectors, enabling cylinder 2 to drive the piston sleeve 10.

[0034] Among them, the connecting parts include a threaded connecting rod 14 and an adjusting cover 13. The adjusting cover 13 is connected to the end of the piston sleeve 10 by screws. A threaded hole is provided in the middle of the adjusting cover 13. The threaded connecting rod 14 passes through the guide tube 7. The inner end of the threaded connecting rod 14 is connected to the piston rod 2.1 of the cylinder 2. The outer end of the threaded connecting rod 14 passes through the threaded hole in the middle of the adjusting cover 13 and is threadedly connected to the threaded hole. By rotating the adjusting cover 13, the connection position relationship between the piston sleeve 10 and the piston rod 2.1 of the cylinder can be adjusted, thereby adjusting the initial expanded diameter and the final expanded diameter of the clamping rod assembly to be compatible with more types of tires. When adjustment is required, first remove the screws on the adjusting cover 13, then rotate the adjusting cover 13 a certain number of times to adjust to the appropriate position, and then re-fix the screws.

[0035] The clamping rod assemblies are evenly arranged around a circle, and the center of the circle coincides with the center of the guide tube 7. The surface of the fixing plate 3 facing away from the flange 1.1 is provided with a guide rail 4 corresponding to each group of clamping rod assemblies. The length direction of the guide rail 4 is the radial direction of the guide tube 7, and the guide rail 4 is fixed to the fixing plate 3 by bolts.

[0036] The clamping rod assembly includes a clamping rod 8 and at least two struts 9. In this embodiment, each set of clamping rod assemblies is provided with three struts 9. The clamping rod 8 is arranged in parallel with the piston sleeve 10. The end of the clamping rod 8 close to the guide rail 4 is fixed with a slider 5 by a screw. The slider 5 is slidably connected to the guide rail 4, thereby slidingly connecting the clamping rod 8 to the guide rail 4. When in use, the clamping rod 8 will move along the guide rail 4. The struts 9 are arranged along the length direction of the clamping rod 8. The struts 9 are arranged in parallel with each other. The two ends of the struts 9 are respectively fixed with elbow joints 11. The two ends of the struts 9 are hinged to the clamping rod 8 and the piston sleeve 10 through the elbow joints 11. The hinge is hinged by a conventional pin 12. As shown Figure 1 As shown, in this embodiment, a connecting plate 8.3 is provided on the end surface of the clamping rod 8, and is fixedly connected to the slider 5 through the connecting plate 8.3.

[0037] The piston sleeve 10 of this embodiment is a square tube, wherein the circular hole in the middle is adapted to the guide tube 7 . A connecting ear 16 is provided on the side wall of the piston sleeve 10 corresponding to each support rod. The elbow joint 11 is hinged to the connecting ear 16 via a pin 12 .

[0038] from Figure 3 and Figure 4 It can be seen that each set of clamping rod assemblies in this embodiment is composed of two upper and lower parallelogram structures consisting of a clamping rod 8, three support rods 9 and a piston sleeve 10. The parallelogram structure can generate stable pressure to support the inner side of the tire 15, and the tire 15 is not easy to fall off, making the destacking of the tire 15 more stable and safer.

[0039] A more preferred solution is: Figure 4 The figure shows a schematic diagram of the robot arm clamp of this embodiment clamping the tire 15. When the clamping rod 8 moves outward to support the inner side of the tire 15, the support rod 9 is perpendicular to the clamping rod 8 and is also perpendicular to the piston sleeve 10. At this time, the support of the support rod 9 to the clamping rod 8 is a vertical support. The clamping rod 8 can withstand very large pressure and can ensure that the tire 15 is clamped firmly. At this time, even if the cylinder 2 fails and the air is cut off, the clamping rod 8 can still maintain the clamping state and will not retract under pressure, thereby better ensuring safety.

[0040] The clamping rod 8 of this embodiment includes a support plate 8.1 and a reinforcement plate 8.2. The support plate 8.1 faces outward, and the reinforcement plate 8.2 is fixed to the inner surface of the support plate 8.1, which may be welded. The reinforcement plate 8.2 is perpendicular to the support plate 8.1. The support rod 9 is hinged to the reinforcement plate 8.2 via an elbow joint 11. The outer surface of the support plate 8.1 is provided with a plurality of transverse grooves 8.1.1, which are evenly arranged along the length of the support plate 8.1 and perpendicular to the length of the support plate 8.1. The grooves 8.1.1 increase friction, allowing the clamping rod 8 to better clamp the tire 15.

[0041] A notch 8.2.1 is provided on the inner edge of the reinforcing plate 8.2 corresponding to the end of the strut 9. The notch 8.2.1 is used to avoid the end of the strut 9. When the clamping rod 8 is retracted, the reinforcing plate 8.2 will not block the end of the strut 9 through the notch 8.2.1.

[0042] The use process of this robot clamp is as follows:

[0043] like Figure 4 As shown, initially the clamping rod assembly is in a state of being retracted toward the middle (the position shown by the dotted line in the figure is the initial position of the clamping rod assembly), and the piston rod 2.1 of the cylinder 2 is in a state of being extended outward. When the tire 15 needs to be destackered, the robot drives the robot clamp to move above the tire 15, the robot clamp moves vertically downward, and then moves downward until the clamp rod assembly penetrates the middle hole of the tire 15. After that, the cylinder 2 is started, and the piston rod 2.1 of the cylinder 2 retracts upward, driving the piston sleeve 10 to move upward. At this time, the clamp rod 8 is pushed outward by the support rod 9, and the surrounding clamp rods 8 expand outward until they are pressed against the inner side of the tire 15. At this time, the support rod 9 is in a horizontal state and the tire 15 is clamped. After that, the robot can lift the tire 15 and move the tire 15 to the conveyor line. The cylinder 2 is started again, and the piston rod 2.1 of the cylinder 2 extends downward to the initial state, driving the piston sleeve 10 to move downward, and the surrounding clamp rods 8 retract toward the middle. The tire 15 is released, and the robot drives the robot clamp to move upward, detaches from the tire 15, and successfully removes a tire 15.

[0044] The above embodiments of the present invention are not intended to limit the scope of protection of the present invention, and the implementation methods of the present invention are not limited thereto. All other modifications, replacements or changes made to the above structures of the present invention based on the above contents of the present invention, in accordance with common technical knowledge and customary means in this field, without departing from the above basic technical ideas of the present invention, should fall within the scope of protection of the present invention.

Claims

1. A robotic gripper for safely destacking tires, characterized by: The invention comprises a connecting frame, a fixing plate, a cylinder, a guide tube, a piston sleeve and at least three groups of clamping rod assemblies, the connecting frame is used to be fixedly connected to the end of the robot arm, the fixing plate is fixed on the connecting frame, the guide tube is vertically fixed in the middle of the fixing plate, the cylinder is mounted on the fixing plate and the piston rod of the cylinder passes through the guide tube, the piston sleeve is slidably sleeved on the guide tube, the piston rod of the cylinder and the end of the piston sleeve are connected by a connecting piece, the clamping rod assemblies are evenly arranged around a circumference, the center of the circumference coincides with the center of the guide tube, the surface of the fixing plate is provided with a guide rail corresponding to each group of the clamping rod assemblies, and the length direction of the guide rail is the radial direction of the guide tube; The clamping rod assembly includes a clamping rod and at least two support rods. The clamping rod is arranged parallel to the piston sleeve, and the end of the clamping rod is slidably connected to the guide rail. The support rods are arranged parallel to each other, and the two ends of the support rod are hinged to the clamping rod and the piston sleeve respectively; at least one parallelogram structure is formed by the clamping rod, the support rod and the piston sleeve, and the clamping rod is used to pass through the middle hole of the tire and expand outward to support the inner side of the tire.

2. The robot arm clamp for safely destacking tires according to claim 1, characterized in that: When the clamping rod moves outwards to support the inner side of the tire, the support rod and the clamping rod are perpendicular to each other, and are also perpendicular to the piston sleeve.

3. The robot arm clamp for safely destacking tires according to claim 1, characterized in that: The connecting part includes a threaded connecting rod and an adjusting cover. The adjusting cover is connected to the end of the piston sleeve. A threaded hole is provided in the middle of the adjusting cover. The threaded connecting rod passes through the guide tube. The inner end of the threaded connecting rod is connected to the piston rod of the cylinder. The outer end of the threaded connecting rod is threadedly connected to the threaded hole. The connection position relationship between the piston sleeve and the piston rod of the cylinder can be adjusted by rotating and adjusting the adjusting cover.

4. The robot arm clamp for safely destacking tires according to claim 1, characterized in that: The clamping rod comprises a support plate and a reinforcement plate, the support plate faces outward, the reinforcement plate is fixed on the inner surface of the support plate, the reinforcement plate is perpendicular to the support plate, and the support rod is hinged to the reinforcement plate.

5. The robot arm clamp for safely destacking tires according to claim 4, characterized in that: The outer surface of the support plate is provided with a plurality of transverse slots, and the slots are evenly arranged along the length direction of the support plate.

6. The robot arm clamp for safely destacking tires according to claim 1, characterized in that: Elbow joints are fixed to both ends of the support rod respectively, and the two ends of the support rod are hinged to the clamping rod and the piston sleeve through the elbow joints.

7. The robot gripper for safely destacking tires according to claim 6, characterized in that: A connecting ear is respectively provided on the side wall of the piston sleeve corresponding to each of the support rods, and the elbow joint is hinged to the connecting ear.

8. The robot gripper for safely destacking tires according to claim 1, characterized in that: A sliding block is provided at the end of the clamping rod close to the guide rail, and the sliding block is slidably connected to the guide rail.

9. The robot arm clamp for safely destacking tires according to claim 1, characterized in that: A notch is provided on the inner edge of the clamping rod corresponding to the end position of the support rod, and the notch is used to avoid the end of the support rod.

10. The robot gripper for safely destacking tires according to claim 1, characterized in that: The connecting frame includes a flange and a plurality of connecting rods. The flange is fixedly connected to the fixing plate through the connecting rods. The flange is used to be fixedly connected to the end of the robot arm.

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