Industrial grabbing equipment

Abstract

The industrial grabbing equipment comprises a control arm, a driving assembly, a first grabbing mechanism and a second grabbing mechanism, wherein the driving assembly, the first grabbing mechanism and the second grabbing mechanism are mounted at the driving end of the control arm; the multiple first grabbing mechanisms and the multiple second grabbing mechanisms are arranged in the circumferential direction at intervals. The driving assembly is used for driving the multiple first grabbing mechanisms and the multiple second grabbing mechanisms to get close to each other or get away from each other at the same time, and then grabbing or loosening is achieved. The first grabbing mechanism is used for grabbing a hub, the second grabbing mechanism is used for grabbing a tire and deflecting the grabbed tire at a set angle, the second grabbing mechanism is located above the first grabbing mechanism, and the clamping area of the first grabbing mechanism and the clamping area of the second grabbing mechanism are eccentrically arranged. The wheel hub and tire grabbing device has the beneficial effects that the different grabbing mechanisms are arranged at the same time to grab a wheel hub and a tire correspondingly, the grabbed tire can be in an eccentric inclined state relative to the wheel hub, and the assembling efficiency can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots, and in particular to an industrial gripping device. Background Art

[0002] With the development of industrial technology, the application of industrial robots is becoming more and more extensive, especially in the field of automobile parts and other products with high quality. In the prior art, when assembling automobile parts, such as automobile wheels, a manipulator is used to grab the wheel hub and tire to the assembly station respectively, and in order to facilitate the subsequent rapid connection of the tire to the wheel hub by special equipment, the wheel hub is often placed in the assembly station first, and then the tire is tilted and placed on the upper end face of the wheel hub. However, the prior art often needs to use multiple grabbing devices when performing the above-mentioned assembly steps, which will increase the cost of the entire wheel assembly line and reduce the assembly efficiency. Summary of the invention

[0003] One of the purposes of the present application is to provide an industrial gripping device that can solve at least one of the defects in the above-mentioned background technology.

[0004] In order to achieve at least one of the above-mentioned purposes, the technical solution adopted in the present application is: an industrial grasping equipment, including a control arm and a driving assembly installed on the driving end of the control arm, a first grasping mechanism and a second grasping mechanism; the first grasping mechanism and the second grasping mechanism are both multiple in number and are arranged at intervals along the circumferential direction; the driving assembly is used to simultaneously drive multiple first grasping mechanisms and the second grasping mechanisms to approach or move away from each other, thereby achieving grasping or releasing; the first grasping mechanism is used to grasp the wheel hub, and the second grasping mechanism is used to grasp the tire and deflect the grasped tire at a set angle, and the second grasping mechanism is located above the first grasping mechanism, and the clamping areas of the first grasping mechanism and the second grasping mechanism are eccentrically arranged.

[0005] Preferably, a mounting disk is installed at the driving end of the control arm, and the driving assembly includes a rotating device and at least two pairs of screw rods, the rotating device is fixedly installed at the middle part of the mounting disk, the screw rods are rotatably installed on the mounting disk and extend radially along the mounting disk, and the two screw rods of each pair are arranged opposite to each other; the first grasping mechanism and the second grasping mechanism are respectively matched and connected with each screw rod, and the grasping mechanisms corresponding to the two screw rods of each pair are the same; the screw rod and the output end of the rotating device are matched with bevel gear transmission, so that each screw rod drives the first grasping mechanism and the second grasping mechanism to approach or move away from each other under the drive of the rotating device.

[0006] Preferably, the number of the first grasping mechanisms is a pair, and the first grasping mechanism includes an extension arm and a first clamp; one end of the extension arm cooperates with the driving assembly, and the other end extends downward to the bottom of the second grasping mechanism and installs the first clamp; the extension arm is inclined in the vertical direction, and the extension arms corresponding to the two first grasping mechanisms are arranged in parallel, so that the center of the clamping area formed by the two first grasping mechanisms through the first clamp deviates from the center of the clamping area of ​​the second grasping mechanism.

[0007] Preferably, the second gripping mechanism includes a moving seat, a rotating rod and a second clamp; the moving seat is cooperatively connected with the driving assembly, the rotating rod is rotatably installed on the moving seat and one end is connected to the second clamp; the rotating rod and the driving end of the control arm are cooperated through a deflection structure, so that the moving seat drives the second clamp under the drive of the driving assembly to complete the gripping of the tire, and the rotating rod drives the second clamp and the gripped tire to deflect at a set angle under the drive of the deflection structure.

[0008] Preferably, the rotating rod is elastically rotatably mounted on the moving seat through a torsion spring; the deflection structure includes a deflection groove arranged on the rotating rod and a second guide rod elastically slidably mounted on the driving end of the control arm, and the second guide rod is slidably matched with the deflection groove; when the rotating rod approaches each other at the driving end relative to the control arm, the second guide rod slides along the deflection groove to keep the rotating rod stationary relative to the moving seat, and the torsion spring is in an energy storage state during this process; when the rotating rod completes clamping the tire, the second guide rod slides along the deflection groove under the reset force of the torsion spring to drive the rotating rod to deflect at a set angle.

[0009] Preferably, the deflection groove includes a first groove segment, a second groove segment, a third groove segment and a fourth groove segment; the extension direction of the first groove segment and the third groove segment is parallel to the axial direction of the rotating rod, and the first groove segment and the third groove segment are spaced apart in the circumferential direction of the rotating rod, the first groove segment and the third groove segment are flush with one end away from the second clamping jaw and are connected through the second groove segment, and the first groove segment and the third groove segment are connected at one end close to the second clamping jaw through the inclined fourth groove segment; the depth of the first groove segment is greater than the depth of the fourth groove segment; the second guide rod is suitable for sliding along the first groove segment, the second groove segment, the third groove segment and the fourth groove segment in sequence.

[0010] Preferably, the second gripping mechanism also includes an adjustment seat; the adjustment seat is movably mounted on the driving end of the control arm, and the second guide rod is elastically slidably mounted on the adjustment seat; the position of the adjustment seat is adjusted to drive the second gripping mechanism to adapt to the gripping of tires of different models.

[0011] Preferably, the movable seat can be vertically telescopically arranged, and the movable seat and the adjusting seat are coordinated through a traction structure; the movable seat is suitable for driving the second clamping jaw and the gripped tire vertically downward through the traction structure to approach the wheel hub gripped by the first gripping mechanism when the second clamping jaw completes gripping the tire.

[0012] Preferably, the movable seat includes a first movable block and a second movable block vertically slidably connected, the first movable block is used to cooperate with the driving assembly, and the second movable block is used to install the rotating rod; the traction structure includes a first guide rod horizontally elastically sliding on the second movable block, and a traction groove arranged on the vertical surface of the adjustment seat, the first guide rod slidably cooperates with the traction groove; the traction groove has a trapezoidal structure, so that during the sliding of the first guide rod along the traction groove, the second movable block moves vertically relative to the first movable block.

[0013] Preferably, the traction groove includes a first slide groove, a second slide groove, a third slide groove and a fourth slide groove; the first slide groove and the third slide groove are horizontally arranged, and one end of the first slide groove and the third slide groove close to the clamping area are flush and connected by the vertically arranged second slide groove, and the other end of the first slide groove and the third slide groove are connected by the inclined fourth slide groove, and the depth of the first slide groove at the connection position is greater than the depth of the fourth slide groove; the first guide rod is suitable for sliding from the first slide groove to the second slide groove during the gripping process of the tire, and then the first guide rod is vertically slid along the second slide groove to drive the second moving block to move vertically downward; the first guide rod is suitable for sliding along the third slide groove and the fourth slide groove to the first slide groove during the tire release process.

[0014] Compared with the prior art, the beneficial effects of this application are: Different gripping mechanisms are provided at the same time to grip the wheel hub and the tire respectively, and the gripped tire can be in an eccentrically tilted state relative to the wheel hub, so that when the wheel hub and the tire are placed and assembled, the tire can be smoothly tilted and placed on the upper end surface of the contour to facilitate the subsequent assembly of the tire and the wheel hub, thereby effectively improving the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of this application.

[0016] Figure 2 Schematic diagram of the installation structure of the installation plate, the first gripping mechanism and the second gripping mechanism in this application Figure 1 .

[0017] Figure 3 Schematic diagram of the installation structure of the installation plate, the first gripping mechanism and the second gripping mechanism in this application Figure 2 .

[0018] Figure 4 This is a schematic diagram of the structure of the second grabbing mechanism in this application.

[0019] Figure 5 It is a structural schematic diagram of the adjustment seat in this application.

[0020] In the figure: control arm 1, mounting plate 10, slide rail 101, drive assembly 2, rotating device 21, main bevel gear 210, screw rod 22, auxiliary bevel gear 220, first grabbing mechanism 3, extension arm 31, first clamping jaw 32, second grabbing mechanism 4, moving seat 41, first moving block 411, first spring 412, second moving block 413, first guide rod 414, adjusting seat 42, first slide groove 421, second slide groove 422, third slide groove 423, fourth slide groove 424, slide rail groove 425, second guide rod 431, second spring 432, rotating rod 44, first slot section 441, second slot section 442, third slot section 443, fourth slot section 444, second clamping jaw 45, torsion spring 46. DETAILED DESCRIPTION

[0021] Below, the present application is further described in conjunction with specific implementation methods. It should be noted that in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 representation of the above terms should not be understood as necessarily being directed 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.

[0022] In the description of the present application, it should be noted that directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of narrating the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and cannot be understood as limiting the specific scope of protection of the present application.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0024] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0026] The terms "including" and "having" and any variations thereof in the specification and claims of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0027] One of the preferred embodiments of the present application is as follows: Figures 1 to 3As shown, an industrial gripping device includes a control arm 1 and a driving assembly 2 installed at the driving end of the control arm, a first gripping mechanism 3 and a second gripping mechanism 4. The control arm 1 can control the driving end to move within a set range of space to achieve the gripping of wheels and tires at different conveying positions. The number of the first gripping mechanism 3 and the second gripping mechanism 4 are both multiple and spaced along the circumferential direction, so that a clamping area for gripping the wheel hub can be formed between the multiple first gripping mechanisms 3, and a clamping area for gripping the tire can be formed between the multiple second gripping mechanisms 4. The driving assembly 2 is used to simultaneously drive the multiple first gripping mechanisms 3 and the second gripping mechanisms 4 to move closer to or away from each other, thereby achieving gripping or release. The second gripping mechanism 4 is located above the first gripping mechanism 3, and the clamping areas of the first gripping mechanism 3 and the second gripping mechanism 4 are eccentrically arranged, so that the gripped wheel hub and tire can be kept eccentric when placed. At the same time, after completing the grasping of the tire, the second grasping mechanism 4 can drive the tire to deflect at a set angle, thereby ensuring that the tire can be placed on the upper end surface of the wheel hub at an angle, thereby facilitating the subsequent rapid assembly of the wheel hub and tire, thereby effectively improving the assembly efficiency.

[0028] It should be known that the specific structure and working principle of the control arm 1 are well-known technologies to those skilled in the art, so they will not be elaborated in detail here. The control arm 1 mainly includes a plurality of articulated arms and a driving motor or a hydraulic system for driving each articulated arm to move. A circular mounting plate 10 can be installed at the driving end of the control arm 1, and the first gripping mechanism 3 and the second gripping mechanism 4 can be arranged at intervals along the circumferential direction of the mounting plate 10.

[0029] It is understandable that the spacing distance between the first gripping mechanism 3 and the second gripping mechanism 4 is at least greater than the diameter of the tire, so that the first gripping mechanism 3 and the second gripping mechanism 4 can ensure that the tire can still pass through the clamping area of ​​the first gripping mechanism 3 and be gripped by the second gripping mechanism 4 when the first gripping mechanism 3 and the second gripping mechanism 4 are set eccentrically. When the tire is clamped, since the tire size is larger than the corresponding wheel hub, the size of the clamping area between the first gripping mechanism 3 can still meet the gripping of the wheel hub. Since the tire is generally made of rubber, when the first gripping mechanism 3 grips the wheel hub, the second gripping mechanism 4 can keep the tire clamped and stationary, or continue to clamp the tire by squeezing and deforming it. In order to reduce the transmission complexity of the drive assembly 2, this embodiment combines the material properties of the tire and sets the clamping action of the second gripping mechanism 4 synchronously with the first gripping mechanism 4.

[0030] In this embodiment, the specific structure of the driving component 2 is various. For the sake of easy understanding, one of the structures will be described in detail below. Figure 2 and Figure 3As shown, the driving assembly 2 includes a rotating device 21 and at least two pairs of screw rods 22; the rotating device 21 is fixedly installed in the middle of the mounting disk 10, the screw rods 22 are rotatably installed on the mounting disk 10 and extend along the radial direction of the mounting disk 10, and the two screw rods 22 of each pair are arranged opposite to each other. The first grasping mechanism 3 and the second grasping mechanism 4 are respectively connected with each screw rod 22, and the grasping mechanisms corresponding to the two screw rods 22 of each pair are the same; the screw rods 22 and the output end of the rotating device 21 are matched with bevel gear transmission, so that each screw rod 22 drives the first grasping mechanism 3 and the second grasping mechanism 4 to move closer to or away from each other under the drive of the rotating device 21.

[0031] It should be known that the specific structure and working principle of the rotating device 21 are well-known technologies for those skilled in the art, so they will not be elaborated in detail here; the common rotating device 21 includes a motor, a rotating cylinder and a rotating hydraulic cylinder, etc., which can be selected according to the actual needs of those skilled in the art. In this embodiment, a motor is preferably used. The number of screw rods 22 is the same as the total number of the first grasping mechanism 3 and the second grasping mechanism 4. In order to grasp stably, the first grasping mechanism 3 and the second grasping mechanism 4 have at least one pair, so the number of screw rods 22 is at least two pairs. Each screw rod 22 is installed with a secondary bevel gear 220 at the end near the center of the mounting plate 10, and a main bevel gear 210 is installed at the output end of the rotating device 21. The main bevel gear 210 can be meshed with all the secondary bevel gears 220, so that the rotating device 21 can synchronously drive each screw rod 22 to rotate at the same time, thereby driving the first grasping mechanism 3 and the second grasping mechanism 4 to perform synchronous action.

[0032] In this embodiment, there are many specific structures of the first gripping mechanism 3 that can achieve the above functions. For the sake of easy understanding, a specific structure will be described in detail below. Figure 2 and Figure 3 As shown, the number of the first grasping mechanism 3 is a pair, and the first grasping mechanism 3 includes an extension arm 31 and a first clamping claw 32. One end of the extension arm 31 is in transmission cooperation with the screw rod 22 in the driving assembly 2, and the other end extends downward to the bottom of the second grasping mechanism 4 and is used to install the first clamping claw 32. The extension arm 31 is arranged obliquely in the vertical direction, and the extension arms 31 corresponding to the two first grasping mechanisms 3 are arranged in parallel, so that the center of the clamping area formed by the two first grasping mechanisms 3 through the first clamping claw 32 deviates from the center of the clamping area of ​​the second grasping mechanism 4.

[0033] It is understandable that the extension wall 31 can be tilted as a whole or partially, as long as there is a horizontal gap between the midpoint of the interval between the two second clamping jaws 32 and the midpoint of the clamping area of ​​the second gripping mechanism 4. The specific structure and working principle of the first clamping jaw 32 are well known to those skilled in the art, so they will not be elaborated here.

[0034] In this embodiment, the specific structure and working principle of the second grabbing mechanism 4 are well-known to those skilled in the art. For ease of understanding, a detailed description will be given below using one specific structure. Figure 4 As shown, the second gripping mechanism 4 includes a moving seat 41, a rotating rod 44 and a second clamping claw 45; the moving seat 41 can be matched and connected with the corresponding screw rod 22 in the driving assembly 2, and the rotating rod 44 is rotatably mounted on the moving seat 41 and one end is used to connect the second clamping claw 45. The rotating rod 44 and the mounting plate 10 are matched through a deflection structure, so that the moving seat 41 drives the second clamping claw 45 under the drive of the driving assembly 2 to complete the gripping of the tire, and the rotating rod 44 drives the second clamping claw 45 and the gripped tire to deflect at a set angle under the drive of the deflection structure.

[0035] It should be known that the specific number of the second gripping mechanisms 4 can be selected according to the actual needs of those skilled in the art, for example Figure 2 and Figure 3 As shown, the number of the second gripping mechanisms 4 is a pair, and the first gripping mechanisms 3 and the second gripping mechanisms 4 can be spaced apart in the circumferential direction of the mounting plate 10, and the central angle of the interval between any adjacent first gripping mechanisms 3 and second gripping mechanisms 4 is 90°. The specific structure of the second clamping jaw 45 is the same as that of the first clamping jaw 32, which are both well-known technologies to those skilled in the art, and therefore will not be elaborated on in detail here.

[0036] It should be noted that when the wheel hub and the tire are eccentrically loosened and placed, the tire can tilt under the action of its own eccentric gravity, but the tilting process of the tire is not stable, and the tire may be separated from the wheel hub during the tilting process. Therefore, in this embodiment, the tire can be directly tilted, so that when the tire is placed, the tire will fall to the upper end surface of the wheel hub in a tilted posture. At this time, part of the edge of the wheel hub extends to the installation area in the center of the tire. This contour can limit the tire so that the tire will not deviate, thereby ensuring the placement stability between the wheel hub and the tire.

[0037] In this embodiment, Figure 4As shown, the rotating rod 44 is elastically rotatably mounted on the moving seat 41 through the torsion spring 46; the deflection structure includes a deflection groove set on the surface of the rotating rod 44 and a second guide rod 431 elastically slidably mounted on the mounting plate 10 through the second spring 432, and the second guide rod 431 is slidably matched with the deflection groove. When all the rotating rods 44 approach each other to grab the tire, the second guide rod 431 can slide along the deflection groove and keep the rotating rod 44 stationary relative to the moving seat 41, and the torsion spring 46 is in an energy storage state during this process. When the rotating rod 44 completes the clamping of the tire, the second guide rod 431 slides along the deflection groove under the reset elastic force of the torsion spring 46 to drive the rotating rod 44 to deflect at a set angle.

[0038] Specifically, Figure 4 As shown, the deflection slot includes a first slot segment 441, a second slot segment 442, a third slot segment 443 and a fourth slot segment 444; the extension direction of the first slot segment 441 and the third slot segment 443 is parallel to the axial direction of the rotating rod 44, and the first slot segment 441 and the third slot segment 443 are arranged at intervals in the circumferential direction of the rotating rod 44, and the length of the first slot segment 441 is longer than that of the third slot segment 443. The ends of the first slot segment 441 and the third slot segment 443 away from the second clamping jaw 45 are flush and connected through the second slot segment 442, and the ends of the first slot segment 441 and the third slot segment 443 close to the second clamping jaw 45 are connected through the inclined fourth slot segment 444. The depth of the connection position of the first groove section 441 and the second groove section 442 is consistent; the depth of the connection position of the second groove section 442 and the third groove section 443 can be consistent, or the depth of the third groove section 443 can be greater than the depth of the second groove section 443; the depth of the third groove section 443 and the fourth groove section 444 at the connection position is consistent; the depth of the first groove section 441 is greater than the depth of the fourth groove section 444.

[0039] Initially, the second guide rod 431 is located at one end of the first slot section 441 close to the second clamping claw 45 , and at this time, the torsion spring 46 is in an energy storage state.

[0040] When the second gripping mechanism 4 grips the tire, the multiple second gripping mechanisms 4 approach each other under the drive of the screw rod 22. At this time, the second guide rod 431 will slide toward the second groove segment 442 relative to the first groove segment 441. Until the tire is gripped, the second guide rod 431 has not yet reached the connection position between the first groove segment 441 and the second groove segment 442.

[0041] Then, when the first grasping mechanism 3 grasps the wheel hub, the second guide rod 431 can continue to slide along the first slot section 441 toward the second slot section 442 until the first grasping mechanism 3 completes grasping the wheel hub and the second guide rod 431 reaches the end of the first slot section 441, i.e., the initial end of the second slot section 442; at this time, the rotating rod 44 will rotate at a set angle under the restoring elastic force of the torsion spring 46, so that the second guide rod 431 slides along the second slot section 442 toward the third slot section 443. When the rotating rod 44 rotates, the second clamping claw 45 can drive the clamped tire to rotate synchronously.

[0042] After the tire is deflected and the control arm 1 drives the grasped wheel hub and tire to reach the specified assembly position, the driving assembly 2 can drive the first grasping mechanism 3 and the second grasping mechanism 4 to release the wheel hub and tire in sequence. In this process, the second guide rod 431 first slides along the third slot section 443 and then slides along the fourth slot section 444.

[0043] During the sliding of the second guide rod 431 along the third groove section 443, the first gripping mechanism 3 completes the loosening of the wheel hub, and the second gripping mechanism 4 can maintain the tilted posture of the tire and relax until the second gripping mechanism 4 completely loosens the tire, so that the tire is placed on the wheel hub in a tilted posture.

[0044] When the second guide rod 431 slides along the fourth slot section 444 toward the first slot section 441 , the rotating rod 44 will perform a reset rotation and compress the torsion spring 46 to store energy again to facilitate tire deflection in the next grabbing process.

[0045] Those skilled in the art should know that the wheel hub has different sizes such as 19 inches, 21 inches and 22 inches. The tire sizes corresponding to different wheel hubs may be different, and the same size wheel hub may also be installed with tires of different sizes. Therefore, in this embodiment, the position of at least one of the second clamping jaw 45 or the first clamping jaw 32 can be adjusted to meet the assembly requirements of different wheel hubs and tires. For ease of understanding, in this embodiment, the position of the second clamping jaw 45 is preferably adjusted.

[0046] Specifically, Figure 2 , Figure 4 and Figure 5As shown, the second gripping mechanism 4 also includes an adjustment seat 42; the adjustment seat 42 is slidably mounted with the slide rail 101 provided on the mounting plate 10 through the slide rail groove 425 provided on the upper end surface, and the adjustment seat 42 and the mounting plate 10 can also be connected by a screw. When the position of the second gripping mechanism 4 needs to be adjusted, the adjustment seat 42 can be driven to slide along the radial direction of the mounting plate 10 by rotating the screw, so as to adapt to the gripping of tires of different models. Due to the setting of the adjustment seat 42, the second guide rod 431 can be installed on the adjustment seat 42 to ensure that the rotating rod 44 can stably deflect at any adjustment position of the adjustment seat 42.

[0047] In this embodiment, in order to ensure that the tire can deflect stably, it is generally necessary to set the upper and lower intervals between the clamping area of ​​the tire and the wheel hub, that is, the tire still does not interfere with the wheel hub after tilting. However, this also results in a certain amount of falling space between the tire and the wheel hub during placement. Since the tire is made of rubber and has a certain elasticity, it may cause a certain amount of jumping when the tire descends and touches the wheel hub. Therefore, after the tire deflects, the distance between the tire and the wheel hub can be shortened so that the tire is directly located on the wheel hub after being loosened to reduce or avoid the occurrence of jumping.

[0048] Specifically, the movable seat 41 can be set to be vertically telescopic, and the movable seat 41 and the adjustment seat 42 are coordinated through a traction structure; when the second clamp 45 completes the gripping of the tire, the movable seat 41 can drive the second clamp 45 and the gripped tire vertically downward through the traction structure to approach the wheel hub gripped by the first gripping mechanism 3.

[0049] In this embodiment, there are many specific structures of the traction structure that can achieve the above functions. For the sake of easy understanding, the following will be described in detail using one specific structure. Figure 4 As shown, the moving seat 41 includes a first moving block 411 and a second moving block 413 that are vertically slidably connected. The first moving block 411 is used to cooperate with the driving assembly 2, and the second moving block 413 is used to install the rotating rod 44. The traction structure includes a first guide rod 414 that slides horizontally elastically on the second moving block 413, and a traction groove provided on the vertical surface of the adjustment seat 42. The first guide rod 414 slides with the traction groove. The traction groove is a trapezoidal structure, so that when the first guide rod 414 slides along the traction groove, the second moving block 413 moves vertically relative to the first moving block 411.

[0050] It should be noted that in order to ensure that the second moving block 413 can stably move vertically downward, a first spring 412 can be installed between the first moving block 411 and the second moving block 413, that is, a vertical elastic expansion and contraction arrangement is performed between the first moving block 411 and the second moving block 413. The installation method of the first guide rod 414 is similar to that of the second guide rod 431, so it will not be elaborated in detail here.

[0051] Specifically, Figure 4 As shown, the traction groove includes a first slide groove 421, a second slide groove 422, a third slide groove 423 and a fourth slide groove 424. The first slide groove 421 and the third slide groove 423 are arranged horizontally, and one end of the first slide groove 421 and the third slide groove 423 close to the clamping area is flush and connected through the vertically arranged second slide groove 422, and the other end of the first slide groove 421 and the third slide groove 423 is connected through the inclined fourth slide groove 424, and the depth of the first slide groove 421 at the connection position is greater than the depth of the fourth slide groove 424.

[0052] When the second gripping mechanism 4 grips tires that are close to each other, the first guide rod 414 can slide along the first slide groove 421 from the connection position between the first slide groove 421 and the fourth slide groove 424, and the first spring 412 is in an energy storage state.

[0053] When the second gripping mechanism 4 completes the gripping and deflection of the tire, the first guide rod 414 slides to the connection position of the first slide groove 421 and the second slide groove 422, and then the second moving block 413 will move vertically downward along the second slide groove 422 under the elastic force of the first spring 412 and its own gravity, thereby driving the clamped tire to approach the wheel hub.

[0054] When the second gripping mechanism 4 releases the tire, the first guide rod 414 can first slide along the third slide groove 423 to adapt to the sliding process of the second guide rod 431 along the third groove section 443. During this process, the height of the tire can be ensured to remain unchanged, so that the tire can be placed with a gap close to the wheel hub.

[0055] After the tire is placed, the first guide rod 414 can slide along the fourth slide groove 424 to the first slide groove 421 for reset; during this process, the second moving block 413 moves vertically upward and drives the first spring 412 to deform and store energy again.

[0056] The above describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and the specification only describe the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application for which protection is sought. The scope of protection claimed by the present application is defined by the attached claims and their equivalents.

Claims

1. An industrial grabbing device, characterized in that: It includes a control arm and a driving assembly installed on a driving end of the control arm, a first grasping mechanism and a second grasping mechanism; The number of the first grasping mechanism and the second grasping mechanism are both multiple and spaced along the circumferential direction; the driving assembly is used to simultaneously drive the multiple first grasping mechanisms and the second grasping mechanisms to move closer to or away from each other, thereby achieving grasping or releasing; The first gripping mechanism is used to grip the wheel hub, and the second gripping mechanism is used to grip the tire and deflect the gripped tire at a set angle; the second gripping mechanism is located above the first gripping mechanism, and the clamping areas of the first gripping mechanism and the second gripping mechanism are eccentrically arranged.

2. The industrial gripping device according to claim 1, characterized in that: The driving end of the control arm is mounted with a mounting plate, and the driving assembly includes a rotating device and at least two pairs of screw rods; The rotating device is fixedly mounted on the middle part of the mounting plate, the screw rod is rotatably mounted on the mounting plate and extends along the radial direction of the mounting plate, and the two screw rods of each pair are arranged opposite to each other; The first grasping mechanism and the second grasping mechanism are respectively connected to the screw rods, and the grasping mechanisms corresponding to the two screw rods in each pair are the same; The screw rods are matched with the output end of the rotating device through bevel gear transmission, so that each screw rod drives the first grasping mechanism and the second grasping mechanism to move closer to or farther from each other under the driving of the rotating device.

3. The industrial gripping device according to claim 2, characterized in that: The number of the first grasping mechanism is a pair, and the first grasping mechanism comprises an extension arm and a first clamping claw; One end of the extension arm cooperates with the driving assembly, and the other end extends downward to below the second grasping mechanism and is mounted with the first clamping claw; The extension arm is arranged obliquely in the vertical direction, and the extension arms corresponding to the two first grasping mechanisms are arranged in parallel, so that the center of the clamping area formed by the two first grasping mechanisms through the first clamping claws deviates from the center of the clamping area of ​​the second grasping mechanism.

4. The industrial gripping device according to claim 2, characterized in that: The second gripping mechanism comprises a moving seat, a rotating rod and a second clamping claw; The movable seat is connected with the driving assembly in cooperation, the rotating rod is rotatably mounted on the movable seat and one end of the rotating rod is connected with the second clamping claw; The rotating rod and the driving end of the control arm are matched through a deflection structure, so that after the movable seat drives the second clamping jaw under the drive of the driving component to complete the grasping of the tire, the rotating rod drives the second clamping jaw and the grasped tire to deflect at a set angle under the drive of the deflection structure.

5. The industrial gripping device according to claim 4, characterized in that: The rotating rod is elastically rotatably mounted on the moving seat through a torsion spring; the deflection structure includes a deflection groove provided on the rotating rod and a second guide rod elastically slidably mounted on the driving end of the control arm, and the second guide rod is slidably matched with the deflection groove; When the rotating rod approaches the driving end of the control arm, the second guide rod slides along the deflection groove to keep the rotating rod stationary relative to the moving seat, and the torsion spring is in an energy storage state during this process; When the rotating rod completes clamping the tire, the second guide rod slides along the deflection groove under the restoring elastic force of the torsion spring to drive the rotating rod to deflect at a set angle.

6. The industrial gripping device according to claim 5, characterized in that: The deflection slot includes a first slot segment, a second slot segment, a third slot segment and a fourth slot segment; The extending directions of the first slot segment and the third slot segment are parallel to the axial direction of the rotating rod, and the first slot segment and the third slot segment are arranged at intervals in the circumferential direction of the rotating rod, the first slot segment and the third slot segment are aligned at one end away from the second clamping jaw and are connected through the second slot segment, and the first slot segment and the third slot segment are connected at one end close to the second clamping jaw through the inclined fourth slot segment; The depth of the first slot section is greater than the depth of the fourth slot section; the second guide rod is suitable for sliding along the first slot section, the second slot section, the third slot section and the fourth slot section in sequence.

7. The industrial gripping device according to claim 5, characterized in that: The second gripping mechanism also includes an adjustment seat; the adjustment seat is movably mounted on the driving end of the control arm, and the second guide rod is elastically slidably mounted on the adjustment seat; the position of the adjustment seat is adjusted to drive the second gripping mechanism to adapt to the gripping of tires of different models.

8. The industrial gripping device according to claim 7, characterized in that: The movable seat can be vertically telescopically arranged, and the movable seat and the adjusting seat are matched with each other through a traction structure; The movable seat is suitable for driving the second clamping jaw and the gripped tire vertically downward to approach the wheel hub gripped by the first gripping mechanism through the traction structure when the second clamping jaw completes gripping the tire.

9. The industrial gripping device according to claim 8, characterized in that: The moving seat comprises a first moving block and a second moving block which are vertically slidably connected, the first moving block is used to cooperate with the driving assembly, and the second moving block is used to install the rotating rod; The traction structure comprises a first guide rod elastically sliding horizontally on the second moving block, and a traction groove arranged on the vertical surface of the adjustment seat, wherein the first guide rod is slidably matched with the traction groove; The traction groove has a trapezoidal structure, so that when the first guide rod slides along the traction groove, the second moving block moves vertically relative to the first moving block.

10. The industrial gripping device according to claim 9, characterized in that The traction trough includes a first chute, a second chute, a third chute and a fourth chute; The first slide groove and the third slide groove are arranged horizontally, one end of the first slide groove and the third slide groove close to the clamping area are flush and connected through the second slide groove arranged vertically, and the other end of the first slide groove and the third slide groove are connected through the fourth slide groove arranged obliquely, and the depth of the first slide groove at the connection position is greater than the depth of the fourth slide groove; The first guide rod is suitable for sliding from the first slide groove to the second slide groove during the tire grabbing process, and then the first guide rod vertically slides along the second slide groove to drive the second moving block to move vertically downward; the first guide rod is suitable for sliding along the third slide groove and the fourth slide groove to the first slide groove during the tire releasing process.

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