Clamping jaw structure of wheel rim transportation manipulator

Abstract

The invention belongs to the technical field of wheel rim production, and relates to a wheel rim transportation mechanical arm clamping jaw structure. A telescopic rod of the air cylinder (2) is connected with the movable plate (5) which is movably connected with the adjusting assembly, the adjusting assembly comprises a first connecting rod (8), a second connecting rod (9), a third connecting rod (10) and a clamping jaw (12), one end of the first connecting rod (8) is movably connected with the movable plate (5), the other end of the first connecting rod (8) is movably connected with one end of the second connecting rod (9), and the middle of the second connecting rod (9) and one end of the third connecting rod (10) are movably connected with the connecting plate (4). The other end of the second connecting rod (9) and the other end of the third connecting rod (10) are movably connected with clamping jaws (12) respectively, and the clamping jaws (12) are of an L-shaped structure. According to the clamping jaw structure of the wheel rim transportation mechanical arm, the stability of wheel rims in the transportation process can be guaranteed, the wheel rims can be prevented from falling off when the clamping mechanism breaks down, and the situation that products are collided and damaged and peripheral equipment is damaged is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of wheel rim production, and more specifically, relates to a wheel rim transport manipulator clamping claw structure. Background Art

[0002] With the rapid development of the automation industry, robots that clamp products for transportation to achieve automatic grasping and releasing of materials are widely used. In the field of wheel rim inspection, in order to ensure the stability of the wheel rim handling process and the positioning accuracy of the product during material release, the wheel rim rim is usually clamped for product transportation. However, when the product incoming state is not correct or the clamping mechanism fails, it is easy to cause the product to fall, causing product bumps and damage to peripheral equipment, affecting production efficiency. For this reason, it is necessary to design a wheel rim transportation robot clamp that can ensure the stability of the wheel rim during transportation and prevent the wheel rim from falling when the clamping mechanism fails. One of the robots that can adjust the maximum opening angle of the clamp includes a main frame, a swing arm and a clamp, and the clamp opening angle needs to be manually adjusted. Therefore, the above technical problems cannot be effectively solved.

[0003] There is a technology named "a wheel grasping manipulator" and the publication (announcement) number "CN205552530U" in the prior art. This technology discloses a wheel grasping manipulator, including a support and a hydraulic cylinder. One end of the hydraulic cylinder is connected to the bottom of the support, and the other end is hinged to two connecting rods. The other ends of the two connecting rods are respectively hinged to clamping arms. One end of the clamping arm is hinged to the support, and the other end is provided with a claw. A lower connecting rod is provided above the support, and the lower connecting rod is movably connected to the upper connecting rod through a joint bearing. A fixed plate is provided at the top of the upper connecting rod, and a number of telescopic cylinders are connected between the fixed plate and the support. The utility model drives the clamping arm to clamp by setting a hydraulic cylinder drive and a connecting rod transmission, and the clamping force is strong; the circular arc-shaped claw is set to grasp the wheel, and the claw has good adaptability to the contour and shape of the tire, and the closing accuracy is high to prevent the tire from falling; the telescopic cylinder is set to cooperate with the joint bearing to realize the multi-angle grasping and stacking of the wheel by the manipulator, and the accuracy is high. However, this technology does not involve the technical problems and technical solutions of the present application. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in view of the deficiencies in the prior art, a wheel rim transport manipulator clamping structure is provided which can not only ensure the stability of the wheel rim during transportation, but also prevent the wheel rim from falling off when a clamping mechanism fails, thereby avoiding product bumps and damage to surrounding equipment.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is:

[0006] The present invention discloses a wheel rim transport robot clamp structure, wherein the telescopic rod of the cylinder is connected to a movable plate, the movable plate is movably connected to an adjusting component, the adjusting component comprises a first connecting rod, a second connecting rod, a third connecting rod and a clamping claw, one end of the first connecting rod is movably connected to the movable plate, the other end of the first connecting rod is movably connected to one end of the second connecting rod, the middle part of the second connecting rod and one end of the third connecting rod are respectively movably connected to the connecting plate, the other end of the second connecting rod and the other end of the third connecting rod are respectively movably connected to the clamping claw, and the clamping claw is an L-shaped structure.

[0007] The cylinders include a plurality of cylinders, which are fixedly connected to the mounting plate, the mounting plate is fixedly connected to the fixing plate, and the connecting plate is connected to the fixing plate.

[0008] The movable plate is movably connected to one end of the first connecting rod through a self-lubricating bearing, the other end of the first connecting rod is movably connected to one end of the second connecting rod through a self-lubricating bearing, the middle part of the second connecting rod and one end of the third connecting rod are respectively movably connected to the connecting plate through self-lubricating bearings, and the other end of the second connecting rod and the other end of the third connecting rod are respectively movably connected to the claws through self-lubricating bearings.

[0009] The wheel rim transport robot gripper structure comprises a first adjustment component and a second adjustment component, and the first adjustment component and the second adjustment component are symmetrically arranged structures.

[0010] The clamping claw comprises a clamping claw body and an anti-scratch pad, the anti-scratch pad is located on the inner side of the clamping claw body close to the lower part, the anti-scratch pad comprises a bottom anti-scratch pad and a side anti-scratch pad, and a groove is provided on the upper part of the bottom anti-scratch pad.

[0011] Each end of the self-lubricating bearing movably connected to the movable plate and one end of the first connecting rod is movably connected to a first connecting rod respectively; each end of the self-lubricating bearing movably connected to the other end of the first connecting rod and one end of the second connecting rod is movably connected to a second connecting rod respectively; each end of the self-lubricating bearing movably connected to the middle part of the second connecting rod and the connecting plate is movably connected to a second connecting rod respectively.

[0012] Each end of the self-lubricating bearing that movably connects the middle part of the third connecting rod and the connecting plate is movably connected to a third connecting rod, and the middle part of the self-lubricating bearing that movably connects the other end of the second connecting rod and the other end of the third connecting rod is movably connected to a claw.

[0013] A detection component is installed on the side of the fixing plate, and the detection component includes an induction switch.

[0014] The connecting plate includes a left side portion and a right side portion of the connecting plate. The lower part of the left side portion of the connecting plate is provided with a left side inner folding edge, and the second connecting rod and the third connecting rod of the first connecting rod assembly have movable left side inner folding edges. The lower part of the right side portion of the connecting plate is provided with a right side inner folding edge, and the second connecting rod and the third connecting rod of the second connecting rod assembly have movable right side inner folding edges.

[0015] The second connecting rod and the third connecting rod are located below the first connecting rod, and the third connecting rod is located inside the second connecting rod.

[0016] The technical solution of the present invention is adopted, and the working principle and beneficial effects are as follows:

[0017] The wheel tyre transport manipulator gripper structure of the present invention has a telescopic rod of a cylinder connected to a movable plate. When the telescopic rod of the cylinder is extended and retracted, the movable plate can be driven to move up and down, and the movable plate is movably connected to an adjustment component, so that the movement of the movable plate up and down will drive the state of the adjustment component to change. Two groups of adjustment components are set when the adjustment component is set, and the two groups are symmetrically arranged, and the two groups of adjustment components act synchronously. Each adjustment component includes a first connecting rod, a second connecting rod, a third connecting rod and a claw, and the first connecting rod, the second connecting rod and the third connecting rod form a connecting rod assembly. One end of the first connecting rod of each adjustment component is movably connected to the movable plate, and the first connecting rod can rotate relative to the movable plate. The other end of the first connecting rod is movably connected to one end of the second connecting rod, and the other end of the first connecting rod can rotate relative to the second connecting rod. The middle part of the second connecting rod and one end of the third connecting rod are respectively movably connected to the connecting plate, so that the middle part of the second connecting rod can be reliably connected to the connecting plate, and the middle part of the second connecting rod can rotate relative to the connecting plate. The other end of the second connecting rod and the other end of the third connecting rod are respectively movably connected to the claw, so that the other end of the second connecting rod can rotate relative to the claw, and the other end of the third connecting rod can rotate relative to the claw. In this way, when the cylinder is extended and retracted to drive the moving plate to extend and retract (move up and down), the first connecting rod can be driven to move, and the first connecting rod drives the second connecting rod to rotate relative to the connecting plate. The second connecting rod cooperates with the third connecting rod, and at the same time, an external force is applied to the upper part of the claw to drive the claw to move, that is, the two claws of the two groups of adjustment components are close to or separated from each other. When the two claws of the two groups of adjustment components are close, they can reliably clamp the wheel rim, and when the two claws of the two groups of adjustment components are separated, they can reliably put down the wheel rim. The claw is an L-shaped structure, and the upper part of the claw is used to reliably clamp the wheel rim under the action of the connecting rod assembly. The structure, working process and principle of the present invention are: when the cylinder is extended and retracted, it drives the moving plate to move up and down, the moving plate drives the first connecting rod to drive the second connecting rod to rotate around the connecting plate, the second connecting rod rotates on the claw, drives the claw to rotate, and the claw action drives the third connecting rod to rotate relative to the connecting plate to realize the opening and closing action of the claw. The second connecting rod and the third connecting rod, the connecting plate and the clamping claw are in a parallelogram structure, which can ensure that the clamping claw is always in a vertical state, and can adapt to the gripping of wheel rims with different rim heights. At the same time, the clamping claw of the L-shaped structure is used to clamp the rim surface of the wheel rim to ensure the stability of the transportation process and avoid falling. In addition, when the power is cut off and the air is cut off, the clamping claw structure of the wheel rim transportation manipulator of the present invention can rely on the weight of the clamping claw and the wheel rim itself to keep the clamping claw in a closed state, realize the self-weight anti-drop design, ensure that the wheel rim will not fall, and avoid product bumps and damage to peripheral equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following is a brief description of the contents and symbols in the drawings of this specification:

[0019] Figure 1 It is a schematic diagram of the axial structure of the wheel tyre transporting manipulator gripper structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the front view of the gripper structure of the wheel tyre transporting manipulator of the present invention;

[0021] Figure 3 It is a side view structural schematic diagram of the wheel tyre transporting manipulator gripper structure of the present invention;

[0022] The marks in the accompanying drawings are respectively: 1. Mounting plate; 2. Cylinder; 3. Fixed plate; 4. Connecting plate; 5. Moving plate; 6. Valve mounting plate; 7. Detection switch mounting plate; 8. First connecting rod; 9. Second connecting rod; 10. Third connecting rod; 11. Self-lubricating sleeve; 12. Claw; 13. Clamping claw structure; 14. Claw body; 15. Anti-scratch pad; 16. Groove; 17. Left side of connecting plate; 18. Right side of connecting plate; 19. Inner folding edge of left side; 20. Inner folding edge of right side; 21. First connecting rod assembly; 22. Second connecting rod assembly; 23. Bottom anti-scratch pad; 24. Side anti-scratch pad. DETAILED DESCRIPTION

[0023] The following is a further detailed description of the specific implementation of the present invention, such as the shape, structure, mutual position and connection relationship between the various components involved, the function and working principle of each part, etc., through the description of the embodiments with reference to the accompanying drawings:

[0024] As attached Figure 1 -Attached Figure 3As shown, the present invention is a wheel tyre transport manipulator gripper structure, the telescopic rod of the cylinder 2 is connected to the moving plate 5, the moving plate 5 is movably connected to the adjusting assembly, the adjusting assembly includes a first connecting rod 8, a second connecting rod 9, a third connecting rod 10 and a claw 12, one end of the first connecting rod 8 is movably connected to the moving plate 5, the other end of the first connecting rod 8 is movably connected to one end of the second connecting rod 9, the middle part of the second connecting rod 9 and one end of the third connecting rod 10 are respectively movably connected to the connecting plate 4, the other end of the second connecting rod 9 and the other end of the third connecting rod 10 are respectively movably connected to the claw 12, and the claw 12 is an L-shaped structure. The above structure proposes an improved technical solution to address the deficiencies in the prior art. When the structure is set, a cylinder 2 is set, and the telescopic rod of the cylinder 2 is connected to the moving plate 5. When the telescopic rod of the cylinder 2 is extended and retracted, the moving plate 5 can be driven to move up and down, and the moving plate 5 is movably connected to the adjusting assembly, and the moving plate 5 moves up and down to drive the state of the adjusting assembly to change. When the adjusting assembly is set, two groups are set, the two groups are symmetrically arranged, and the two groups of adjusting assemblies act synchronously. Each adjusting component includes a first connecting rod 8, a second connecting rod 9, a third connecting rod 10 and a claw 12. The first connecting rod 8, the second connecting rod 9 and the third connecting rod 10 form a connecting rod component. One end of the first connecting rod 8 of each adjusting component is movably connected to the movable plate 5, and the first connecting rod 8 can rotate relative to the movable plate 5. The other end of the first connecting rod 8 is movably connected to one end of the second connecting rod 9, and the other end of the first connecting rod 8 can rotate relative to the second connecting rod 9. The middle part of the second connecting rod 9 and one end of the third connecting rod 10 are respectively movably connected to the connecting plate 4, so the middle part of the second connecting rod 9 can be reliably connected to the connecting plate 4, and the middle part of the second connecting rod 9 can rotate relative to the connecting plate. The other end of the second connecting rod 9 and the other end of the third connecting rod 10 are respectively movably connected to the claw 12, so the other end of the second connecting rod 9 can rotate relative to the claw, and the other end of the third connecting rod 10 can rotate relative to the claw 12. In this way, when the cylinder is extended and retracted to drive the moving plate 5 to extend and retract (move up and down), the first connecting rod 8 can be pushed to move, and the first connecting rod 8 pushes the second connecting rod 9 to rotate relative to the connecting plate 4. The second connecting rod 9 cooperates with the third connecting rod 10, and at the same time, an external force is applied to the upper part of the claw 12 to drive the claw 12 to move, that is, the two claws 12 of the two groups of adjustment components are close to or separated from each other, and the two claws 12 of the two groups of adjustment components are close to each other. When the two claws 12 of the two groups of adjustment components are separated, the wheel tire can be reliably clamped. The claw 12 is an L-shaped structure, and the upper part of the claw 12 is used to reliably clamp the wheel tire under the action of the connecting rod assembly. The structure, working process and principle of the present invention are: when the cylinder 2 is extended and retracted, it drives the moving plate 5 to move up and down, and the movement of the moving plate 5 drives the first connecting rod 8 to push the second connecting rod 9 to rotate around the connecting plate 4, and the second connecting rod 9 rotates on the claw 12 to drive the claw 12 to rotate, and the movement of the claw 12 drives the third connecting rod 10 to rotate relative to the connecting plate 4 to achieve the opening and closing action of the claw 12.The second connecting rod 9 and the third connecting rod 10, the connecting plate 4 and the claw 12 are in a parallelogram structure, which can ensure that the claw 12 is always in a vertical state, and can adapt to the gripping of wheel rims with different rim heights. At the same time, the claw 12 of the L-shaped structure is used to clamp the rim surface of the wheel rim to ensure the stability of the transportation process and avoid falling. In addition, the wheel rim transportation manipulator claw structure of the present invention can rely on the weight of the claw and the wheel rim itself when the power is off and the air is off, so that the claw is always in a closed state, realizing the self-weight anti-drop design, ensuring that the wheel rim will not fall, avoiding product bumps and damage to peripheral equipment. The wheel rim transportation manipulator claw structure described in the present invention can not only ensure the stability of the wheel rim during transportation, but also prevent the wheel rim from falling when the clamping mechanism fails, avoiding product bumps and damage to peripheral equipment.

[0025] The cylinder 2 includes multiple cylinders 2, which are fixedly connected to the mounting plate 1, the mounting plate 1 is fixedly connected to the fixing plate 3, and the connecting plate 3 is connected to the fixing plate 4. In the above structure, one cylinder can be provided, or multiple cylinders can be provided, which can be provided according to actual needs. When multiple cylinders 2 are provided, multiple cylinders 2 are arranged side by side, respectively connected to the moving plate 5, and multiple cylinders 2 are extended and retracted synchronously. The cylinder 2 is fixedly connected to the mounting plate 1 by bolts to achieve structural fixation. The mounting plate 1 is fixedly connected to the fixing plate 3 by bolts to achieve reliable connection of the fixing plate 3, and the connecting plate 3 is fixedly connected to the fixing plate 4 by bolts to achieve reliable connection of the fixing plate 4, thereby achieving structural arrangement.

[0026] The movable plate 5 is movably connected to one end of the first connecting rod 8 through the self-lubricating bearing 11, the other end of the first connecting rod 8 is movably connected to one end of the second connecting rod 9 through the self-lubricating bearing 11, the middle of the second connecting rod 9 and one end of the third connecting rod 10 are movably connected to the connecting plate 4 through the self-lubricating bearing 11, and the other end of the second connecting rod 9 and the other end of the third connecting rod 10 are movably connected to the claw 12 through the self-lubricating bearing 11. The above structure, the setting of different self-lubricating bearings 11, on the one hand, can reliably realize the flexible and reliable connection of different connecting rods, and on the other hand, effectively reduce wear and increase service life.

[0027] The wheel rim transport manipulator gripper structure includes a first adjustment component and a second adjustment component, and the first adjustment component and the second adjustment component are symmetrically arranged structures. When the wheel rim needs to be clamped, it needs to be clamped from both sides, so two sets of symmetrically arranged adjustment components are required, and the clamping is achieved by controlling the two claws 12 of the two sets of adjustment components.

[0028] The clamping claw 12 includes a clamping claw body 14 and an anti-scratch pad 15. The anti-scratch pad 15 is located near the lower inner side of the clamping claw body 14. The anti-scratch pad 15 includes a bottom anti-scratch pad 23 and a side anti-scratch pad 24. The bottom anti-scratch pad 23 is provided with a groove 16 on its upper part. In the above structure, the anti-scratch pad 15 is connected to the clamping claw body 14, which can reliably realize the connection and disassembly of the two. On the one hand, it ensures flexible contact when clamping the wheel rim to avoid damaging the wheel rim surface. On the other hand, the anti-scratch pad 15 is easy to replace regularly, and the clamping claw body 14 can be used for a long time to reduce costs. The bottom anti-scratch pad 23 forms a horizontal positioning surface, and the side anti-scratch pad 24 forms a vertical positioning surface. A protruding wheel core block is provided on the wheel rim. For this purpose, a groove 16 is provided to avoid the wheel core block. The vertical positioning surface of the clamping claw 12 is used to clamp the outer rim surface of the wheel rim, and the horizontal positioning surface can extend into the inner diameter surface of the wheel rim to prevent the wheel rim from falling off and ensure the stability during transportation.

[0029] Each end of the self-lubricating bearing 11 movably connected to the movable plate 5 and one end of the first connecting rod 8 is movably connected to a first connecting rod 8, each end of the self-lubricating bearing 11 movably connected to the other end of the first connecting rod 8 and one end of the second connecting rod 9 is movably connected to a second connecting rod 9, and each end of the self-lubricating bearing 11 movably connected to the middle part of the second connecting rod 9 and the connecting plate 4 is movably connected to a second connecting rod 9. Each end of the self-lubricating bearing 11 movably connected to the middle part of the third connecting rod 10 and the connecting plate 4 is movably connected to a third connecting rod 10, and the middle part of the self-lubricating bearing 11 movably connected to the other end of the second connecting rod 9 and the other end of the third connecting rod 10 is movably connected to the claw 12.

[0030] The detection component is installed on the side of the fixing plate 3, and the detection component includes an induction switch. The wheel tyre transport manipulator gripper structure also includes an air valve mounting plate 6, on which an air valve for controlling the action of the air cylinder 2 is mounted, and a detection switch mounting plate 7 is connected to the fixing plate 3, on which an induction switch for detecting whether the gripper is fully opened is mounted.

[0031] The connecting plate 4 includes a connecting plate left side 17 and a connecting plate right side 18, a left side inner folding edge 19 is arranged at the lower part of the connecting plate left side 17, a second connecting rod 9 and a third connecting rod 10 of the first connecting rod assembly 21 are movable left side inner folding edge 19, a right side inner folding edge 20 is arranged at the lower part of the connecting plate right side 18, and a second connecting rod 9 and a third connecting rod 10 of the second connecting rod assembly 22 are movable right side inner folding edge 20. In the above structure, the connecting plate left side 17 and the left side inner folding edge 19 are an integrated structure, and the connecting plate right side 18 and the right side inner folding edge 20 are an integrated structure. The left side inner folding edge 19 is used for connecting the second connecting rod 9 and the third connecting rod 10 of one group of adjusting assemblies, and the right side inner folding edge 20 is used for connecting the second connecting rod 9 and the third connecting rod 10 of another group of adjusting assemblies. The motion control of the whole structure is realized by controlling the cylinder 2 by the control component.

[0032] The second connecting rod 9 and the third connecting rod 10 are located below the first connecting rod 8, and the third connecting rod 10 is located inside the second connecting rod 9. In the above structure, the first connecting rod 8, the second connecting rod 9, and the third connecting rod 10 realize the connection between the connecting plate 4 and the claw 12, and when the telescopic rod of the cylinder 2 is extended and retracted, the claws of the two groups of adjustment components are approached and separated, meeting the use requirements.

[0033] The wheel tyre transport manipulator gripper structure of the present invention is provided with a cylinder 2 when the structure is set, and the telescopic rod of the cylinder 2 is connected to the moving plate 5. When the telescopic rod of the cylinder 2 is extended and retracted, the moving plate 5 can be driven to move up and down, and the moving plate 5 is movably connected to the adjustment component, and the up and down movement of the moving plate 5 will drive the state of the adjustment component to change. Two groups of adjustment components are provided when the adjustment component is provided, and the two groups are symmetrically arranged, and the two groups of adjustment components act synchronously. Each adjusting component includes a first connecting rod 8, a second connecting rod 9, a third connecting rod 10 and a claw 12. The first connecting rod 8, the second connecting rod 9 and the third connecting rod 10 form a connecting rod component. One end of the first connecting rod 8 of each adjusting component is movably connected to the movable plate 5, and the first connecting rod 8 can rotate relative to the movable plate 5. The other end of the first connecting rod 8 is movably connected to one end of the second connecting rod 9, and the other end of the first connecting rod 8 can rotate relative to the second connecting rod 9. The middle part of the second connecting rod 9 and one end of the third connecting rod 10 are respectively movably connected to the connecting plate 4, so the middle part of the second connecting rod 9 can be reliably connected to the connecting plate 4, and the middle part of the second connecting rod 9 can rotate relative to the connecting plate. The other end of the second connecting rod 9 and the other end of the third connecting rod 10 are respectively movably connected to the claw 12, so the other end of the second connecting rod 9 can rotate relative to the claw, and the other end of the third connecting rod 10 can rotate relative to the claw 12. In this way, when the cylinder is extended and retracted to drive the moving plate 5 to move up and down, the first connecting rod 8 can be pushed to move, and the first connecting rod 8 drives the second connecting rod 9 to rotate relative to the connecting plate 4. The second connecting rod 9 cooperates with the third connecting rod 10, and at the same time, an external force is applied to the upper part of the claw 12 to drive the claw 12 to move, that is, the two claws 12 of the two groups of adjustment components are close to or separated from each other. When the two claws 12 of the two groups of adjustment components are close, the wheel rim can be reliably clamped, and when the two claws 12 of the two groups of adjustment components are separated, the wheel rim can be reliably put down. The claw 12 is an L-shaped structure, and the upper part of the claw 12 is used to reliably clamp the wheel rim under the action of the connecting rod assembly. The structure, working process and principle of the present invention are: when the cylinder 2 is extended and retracted, it drives the moving plate 5 to move up and down, and the movement of the moving plate 5 drives the first connecting rod 8 to drive the second connecting rod 9 to rotate around the connecting plate 4, and the second connecting rod 9 rotates on the claw 12 to drive the claw 12 to rotate, and the movement of the claw 12 drives the third connecting rod 10 to rotate relative to the connecting plate 4 to realize the opening and closing action of the claw 12. The second connecting rod 9 and the third connecting rod 10, the connecting plate 4 and the claw 12 are in a parallelogram structure, which can ensure that the claw 12 is always in a vertical state, and can adapt to the gripping of wheel rims with different rim heights. At the same time, the claw 12 of the L-shaped structure is used to clamp the rim surface of the wheel rim to ensure the stability of the transportation process and avoid falling. In addition, the wheel rim transportation manipulator claw structure of the present invention can rely on the weight of the claw and the wheel rim itself when the power is off and the air is off, so that the claw is always in a closed state, realizing the self-weight anti-drop design, ensuring that the wheel rim will not fall, and avoiding product bumps and damage to peripheral equipment.

[0034] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A wheel tyre transport manipulator gripper structure, characterized in that: The telescopic rod of the cylinder (2) is connected to the movable plate (5), and the movable plate (5) is movably connected to the adjustment component. The adjustment component comprises a first connecting rod (8), a second connecting rod (9), a third connecting rod (10) and a clamping claw (12). One end of the first connecting rod (8) is movably connected to the movable plate (5), and the other end of the first connecting rod (8) is movably connected to one end of the second connecting rod (9). The middle part of the second connecting rod (9) and one end of the third connecting rod (10) are respectively movably connected to the connecting plate (4). The other end of the second connecting rod (9) and the other end of the third connecting rod (10) are respectively movably connected to the clamping claw (12), and the clamping claw (12) is in an L-shaped structure.

2. The wheel tyre transport manipulator gripper structure according to claim 1 is characterized in that: The cylinder (2) comprises a plurality of cylinders, the cylinder (2) is fixedly connected to the mounting plate (1), the mounting plate (1) is fixedly connected to the fixing plate (3), and the connecting plate (3) is connected to the fixing plate (4).

3. The wheel tyre transport manipulator gripper structure according to claim 1 or 2, characterized in that: The movable plate (5) is movably connected to one end of the first connecting rod (8) through a self-lubricating bearing (11), the other end of the first connecting rod (8) is movably connected to one end of the second connecting rod (9) through the self-lubricating bearing (11), the middle part of the second connecting rod (9) and one end of the third connecting rod (10) are movably connected to the connecting plate (4) through the self-lubricating bearing (11), and the other end of the second connecting rod (9) and the other end of the third connecting rod (10) are movably connected to the claw (12) through the self-lubricating bearing (11).

4. The wheel tyre transport manipulator gripper structure according to claim 1, characterized in that: The wheel rim transport robot gripper structure comprises a first adjustment component (21) and a second adjustment component (22), and the first adjustment component (21) and the second adjustment component (22) are symmetrically arranged structures.

5. The wheel tyre transport manipulator gripper structure according to claim 1 or 2, characterized in that: The clamping claw (12) comprises a clamping claw body (14) and an anti-scratch pad (15), wherein the anti-scratch pad (15) is located near the lower inner side of the clamping claw body (14), and the anti-scratch pad (15) comprises a bottom anti-scratch pad (23) and a side anti-scratch pad (24), and a groove (16) is provided on the upper part of the bottom anti-scratch pad (23).

6. The wheel tyre transport robot gripper structure according to claim 3, characterized in that: Each end of the self-lubricating bearing (11) movably connected to the movable plate (5) and one end of the first connecting rod (8) is movably connected to a first connecting rod (8), each end of the self-lubricating bearing (11) movably connected to the other end of the first connecting rod (8) and one end of the second connecting rod (9) is movably connected to a second connecting rod (9), and each end of the self-lubricating bearing (11) movably connected to the middle part of the second connecting rod (9) and the connecting plate (4) is movably connected to a second connecting rod (9).

7. The wheel tyre transport manipulator gripper structure according to claim 6, characterized in that: The self-lubricating bearing (11) movably connected to the middle part of the third connecting rod (10) and the connecting plate (4) is movably connected to a third connecting rod (10) at each end, and the middle part of the self-lubricating bearing (11) movably connected to the other end of the second connecting rod (9) and the other end of the third connecting rod (10) is movably connected to a claw (12).

8. The wheel tyre transport manipulator gripper structure according to claim 1 or 2, characterized in that: A detection component (7) is installed on the side of the fixing plate (3), and the detection component (7) includes an induction switch.

9. The wheel tyre transport manipulator gripper structure according to claim 1 or 2, characterized in that: The connecting plate (4) comprises a left side portion (17) of the connecting plate and a right side portion (18); a left side inner folding edge (19) is arranged at the lower part of the left side portion (17) of the connecting plate; the second connecting rod (9) and the third connecting rod (10) of the first connecting rod assembly (21) have movable left side inner folding edges (19); a right side inner folding edge (20) is arranged at the lower part of the right side portion (18) of the connecting plate; the second connecting rod (9) and the third connecting rod (10) of the second connecting rod assembly (22) have movable right side inner folding edges (20).

10. The wheel tyre transport manipulator gripper structure according to claim 1 or 2, characterized in that: The second connecting rod (9) and the third connecting rod (10) are located below the first connecting rod (8), and the third connecting rod (10) is located inside the second connecting rod (9).

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