Gripper device applied to automatic suspension of tire bead of tire building machine

Abstract

The utility model relates to the field of grabbing equipment, in particular to a gripper device applied to automatic suspension of a tire bead of a tire building machine, which comprises a door-shaped frame, a sliding seat, a rotary table and a gripper device, first guide rails are longitudinally mounted on door upright posts on two sides of the door-shaped frame, and the sliding seat is connected with the first guide rails on two sides through a support frame; the first electric cylinder drives the sliding base to move up and down in the door-shaped frame, the rotary table is transversely installed at the bottom of the sliding base, and the gripper device is installed below the rotary table and can rotate by + / -90 degrees through the rotary table. According to the device, the structure is reasonably designed, the grabbing action is simplified, the formed tire bead is automatically grabbed and hung on the tire bead prearrangement device through the grabbing hand device, the tire bead hanging operation can be automatic, the grabbing hand device is installed above the tire bead prearrangement device in an inclined mode through the door-shaped frame, the occupied area is reduced, the grabbing hand device and the manual position do not interfere with each other, and the production efficiency is improved. And the safety risk is reduced.

Description

Technical Field

[0001] The utility model relates to the field of robot grasping equipment, in particular to a grasping device used for automatic suspension of tire beads of tire building machines. Background Art

[0002] Tire building machines are essential equipment for the production of tire blanks. When the tire blanks are formed, the tire beads on both sides need to be pre-set. Due to the limitations of position and tire bead characteristics, this link has been manually implemented in the industry, which has become a problem restricting the automation of tire factories. At present, tire factories have basically realized the depalletizing and stacking of pallets with bead beads, that is, the pallet on the top of the full pallet is grabbed and placed on the empty pallet for stacking, and then the tire beads on the top of the pallet are manually removed, and the machine then places the next full pallet on top of the empty pallet, and the cycle continues.

[0003] Since the tire bead is annular in shape and has a wire ring embedded in the inner ring, it is easy for the tire bead to get stuck when placed on a plastic pallet. The conventional method is to use a robot to lift the tire bead by supporting it on all sides. This method has two defects. One is that the tire bead sticks to the pallet and is difficult to lift. The other is that the gripper is heavy and the robot's arm extension space is too large, which affects the operation and maintenance space in front of the entire molding machine. Due to the above difficulties, the tire bead suspension has not been automated, which seriously restricts the efficiency of tire molding and increases the operator's workload.

[0004] Therefore, the utility model proposes a gripper device for automatic suspension of the tire bead of a tire forming machine to solve the problems that the bead hanging operation cannot be automated during the tire forming step, the floor space is too large, there is interference with the manual position and there are great safety risks. Utility Model Content

[0005] In order to solve the above problems, the utility model proposes a gripper device for automatically hanging the tire bead of a tire building machine. The device grabs the tire bead through the gripper device and then hangs the tire bead on a tire bead presetter.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is a gripper device used for automatic suspension of the tire bead of a tire forming machine, comprising a door-type frame, a slide, a turntable and a gripper device, wherein the door-type frame is arranged behind a tire bead presetter, a slide is arranged in the door-type frame, the slide can move up and down, the slide is connected to a laterally arranged turntable through a second guide rail and a gear rack structure on the slide, a gripper device is installed under the turntable, and the gripper device is arranged obliquely above the tire bead presetter through the slide and the turntable.

[0007] Further preferably, a first guide rail is longitudinally installed on the side of the transverse door column in the door frame, the slide is connected to the first guide rail through a support frame, a first electric cylinder is fixed on the door frame, the moving end of the first electric cylinder is connected to the support frame, and the slide is driven by the first electric cylinder to move up and down.

[0008] Further preferably, a servo motor is provided on the gear, and the servo motor drives the gear to drive the turntable to move forward and backward.

[0009] Further preferably, the turntable is a 150*100 rectangular tube, a turntable is fixedly provided above the turntable, the turntable is a cylindrical structure, the turntable is connected to the second guide rail below the slide seat through a gear plate, and the turntable is driven by a servo motor to drive the turntable and the gripper device connected to the turntable to rotate.

[0010] Further preferably, the gripper device can be rotated by ±90 degrees via a turntable.

[0011] Further preferably, the gripper device comprises a gripper and a pneumatic suction cup, the gripper is located behind the pneumatic suction cup, and the pneumatic suction cup is located on both sides of the gripper, the gripper is mounted on the lower surface of the turntable through a second set of guide rail pairs, a first set of guide rail pairs is mounted on the lower surface of the turntable, the second set of guide rail pairs is fixedly mounted on the lower guide rail of the second set of guide rail pairs, a fixed bracket is connected to the first set of guide rail pairs, a first cylinder is provided on the fixed bracket, and a moving end of the first cylinder is connected to the gripper;

[0012] A second cylinder is connected below the fixed bracket, the second cylinder is connected to the third cylinder through a first bent plate, a second bent plate is connected below the third cylinder, the pneumatic suction cup is installed below the second bent plate, and the fixed bracket is connected to a second electric cylinder installed on the lower surface of the turntable.

[0013] Further preferably, an electromagnet is fixed on the gripper hook below the gripper.

[0014] Further preferably, the number of the pneumatic suction cups is two, and the installation angle of the two pneumatic suction cups is 10 degrees, which is consistent with the inclination angle of the tire bead rubber surface.

[0015] Further preferably, a switch bracket is installed inside the second bent plate, and a proximity switch is transversely installed on the switch bracket.

[0016] Further preferably, two translation cylinders are installed on the left and right sides above the second bending plate, and two brackets are installed on the translation cylinders, namely a left bracket and a right bracket, and the left bracket and the right bracket are L-shaped.

[0017] The beneficial effects of using the utility model are:

[0018] The device has a rationally designed structure and simplifies the grabbing action. The formed tire bead is automatically grabbed and hung on the tire bead presetter through the gripper device, so that the tire bead hanging operation can be automated. The gripper device is installed obliquely above the tire bead presetter through a door-type frame, so that the occupied area is reduced and there is no interference with the manual position, thereby reducing the safety risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of a gripper device used for automatic suspension of tire bead of a tire building machine;

[0020] Figure 2 The overall structure front view of a gripper device used for automatic suspension of tire bead of tire building machine;

[0021] Figure 3 It is a left view of the overall structure of a gripper device used for automatic suspension of tire bead of tire building machine;

[0022] Figure 4 It is a partial overall three-dimensional structural diagram of a gripper device used for automatic suspension of tire bead of tire building machine;

[0023] Figure 5 It is a front view of a gripper device used for automatic suspension of tire bead of tire building machine;

[0024] Figure 6 The diagram is a left view of a gripper device used for automatic suspension of tire rims of tire building machines.

[0025] Reference numerals include:

[0026] 1-door frame, 11-first guide rail, 12-support frame, 13-first electric cylinder;

[0027] 2-slide seat, 21-second guide rail;

[0028] 3-turntable, 31-turntable, 32-toothed disc;

[0029] 4-gripper device, 41-gripper, 411-electromagnet, 42-pneumatic suction cup, 43-first set of guide rail pairs, 431-lower guide rail, 44-second set of guide rail pairs, 45-fixed frame, 451-first cylinder, 452-second electric cylinder, 46-second cylinder, 461-first bending plate, 47-third cylinder, 48-second bending plate, 481-switch bracket, 482-proximity switch, 483-translational cylinder, 484-left bracket, 485-right bracket. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the technical solution more clear, the technical solution is further described in detail below in conjunction with specific implementation methods. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the technical solution.

[0031] like Figures 1 to 6 As shown, the utility model proposes a gripper device for automatic suspension of tire bead of tire forming machine, including a door frame 1, a slide 2, a turntable 3 and a gripper device 4, the door frame 1 is fixedly arranged behind the tire bead presetter, and the door columns on both sides of the door frame 1 are respectively longitudinally installed with first guide rails 11 parallel to each other, the slide 2 is connected to the first guide rails 11 through a support frame 12, and then the slide 2 is installed between the door columns on both sides, the slide 2 is horizontally installed and perpendicular to the crossbeam of the door frame 1, and a first electric cylinder 13 is fixedly installed on the crossbeam of the door frame 1, and the moving end of the first electric cylinder 13 is connected to the support frame 12, and the support frame 12 is driven by the first electric cylinder 13 to drive the slide 2 to move up and down.

[0032] A turntable 3 is installed horizontally below the slide 2. The turntable 3 is connected to the turntable 3 through a second guide rail 21 installed below the slide 2 and a gear rack structure. A servo motor is provided on the gear, and the servo motor drives the gear to drive the turntable 3 to move forward and backward.

[0033] Furthermore, the turntable 3 is a 150*100 rectangular tube, and a turntable 31 is fixedly provided above the turntable 3. The turntable 31 is a cylindrical structure. The turntable 31 is movably connected to the second guide rail 21 below the slide 2 through a gear plate 32. The turntable 31 is driven by a servo motor to drive the turntable 3 and the gripper device 4 connected to the turntable 3 to rotate forward or reverse 90 degrees.

[0034] The gripper device 4 includes a gripper 41 and two pneumatic suction cups 42 . The gripper 41 is located behind the pneumatic suction cups 42 , and the pneumatic suction cups 42 are located on both sides of the gripper 41 .

[0035] Specifically, a first set of guide rail pairs 43 are installed on the lower surface of the turntable 3, and a second set of guide rail pairs 44 are installed on the lower guide rail 431 of the first set of guide rail pairs 43. The gripper 41 is fixed below the lower guide rail 431 through the second set of guide rail pairs 44. A fixed bracket 45 is connected to the first set of guide rail pairs 43, and a first cylinder 451 is provided on the fixed bracket 45. The moving end of the first cylinder 451 is connected to the gripper 41, and the distance between the gripper 41 and the pneumatic suction cup 42 can be adjusted by the first cylinder 451; an electromagnet 411 is fixed on the gripper hook below the gripper 41, and when the tire bead is lifted, the electromagnet 411 is energized to adsorb the wire ring of the inner ring of the tire bead, thereby playing a fixing role;

[0036] A second cylinder 46 is connected below the fixed bracket 45, and the second cylinder 46 is connected to the second cylinder 47 through a first bent plate 461. A second bent plate 48 is connected below the third cylinder 47, and two pneumatic suction cups 42 are connected below the second bent plate 48. The installation angle of the two pneumatic suction cups 42 is 10 degrees, which is consistent with the inclination angle of the tire bead rubber surface. The fixed bracket 45 is connected to the moving end of the second electric cylinder 452 with a stroke of 100 installed on the lower surface of the turntable 3. The fixed bracket 45 is driven by the second electric cylinder 452 to move forward and backward, thereby driving the pneumatic suction cup 432 to move forward and backward, and by driving the second cylinder 46 and the third cylinder 47 The upper and lower positions of the pneumatic suction cup 42 can be adjusted, a switch bracket 481 is installed inside the second bending plate 48, and the proximity switch 482 is horizontally installed on the switch bracket 481. When the pneumatic suction cup 42 touches the tire bead and floats upward, the proximity switch 482 is triggered to control the gripper 41 to stop moving. Two translation cylinders 483 are installed on the left and right sides above the second bending plate 48, and two brackets are installed on the translation cylinder 483, which are a left bracket 484 and a right bracket 485 respectively. The left bracket 484 and the right bracket 485 are L-shaped. When the tire bead is lifted, the third cylinder 47 moves downward and the translation cylinder 483 is pushed out. The two brackets support the left and right shoulders of the tire bead to prevent it from shaking during rotation.

[0037] Working principle: During operation, the second cylinder 46 and the third cylinder 47 are both pushed out to make the pneumatic suction cup 42 drop to below the gripper hook of the gripper 41. When the two pneumatic suction cups 42 are adsorbed to the upper surface of the tire bead apex, the third cylinder 47 retreats to separate the tire bead from the pallet. At this time, the first cylinder 451 retracts to move the gripper hook of the gripper 41 to below the tire bead and hook the tire bead. Then the pneumatic suction cup 42 falls off, and the second cylinder 46 above retracts to move the two pneumatic suction cups 42 upward to avoid the position where the gripper 42 moves forward. Then the slide 2 drives the gripper device 4 to move upward to make the tire bead stand upright. At this time, the two translation cylinders 483 above the pneumatic suction cup 42 are both ejected to make the two brackets on both sides of the pneumatic suction cup 42 probe down to both sides of the tire bead. Then the two translation cylinders 483 drive the two brackets. The two sides of the tire bead are supported to prevent it from falling off during rotation. At the same time, the electromagnet 411 in the middle position of the gripper hook of the gripper 41 sucks the tire bead wire ring, and then the turntable 3 is turned forward or reversed 90 degrees to turn the tire bead from the front position to the left and right sides of the tire bead presetter, and the entire turntable is driven to move backward to the center position of the tire bead presetter. At this time, the second electric cylinder 452 under the turntable 3 drives the gripper 42 and the tire bead to move slightly, and the tire bead is moved to the position above the tire bead presetter. Then, the electromagnet 411 is powered off, the first cylinder 451 is retracted, and the two translation cylinders 483 above the pneumatic suction cup 42 are retracted, so that the pneumatic suction cup 42 moves upward to avoid the hanging finger on the tire bead presetter, and the entire gripper device 4 is lowered, and the tire bead is hung on the tire bead presetter. Then the gripper 41 retreats and disengages, returns to the initial position, and repeats the next working cycle.

[0038] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, many changes can be made in the specific implementation methods and application scopes based on the ideas of the present technical content. As long as these changes do not deviate from the concept of the present invention, they all fall within the scope of protection of this patent.

Claims

1. A gripper device for automatic suspension of tire bead of a tire building machine, comprising a door-shaped frame (1), a slide seat (2), a turntable (3) and a gripper device (4), characterized in that: The door-shaped frame (1) is arranged behind the tire bead presetter. A slide seat (2) is arranged on the door-shaped frame (1). The slide seat (2) can move up and down. The slide seat (2) is connected to a transversely arranged turntable (3) through a second guide rail (21) and a gear rack structure on the slide seat (2). A gripping device (4) is installed below the turntable (3). The gripping device (4) is arranged obliquely above the tire bead presetter through the slide seat (2) and the turntable (3).

2. A gripper device for automatic suspension of tire bead of tire building machine according to claim 1, characterized in that: A first guide rail (11) is longitudinally installed on the side of the transverse door column in the door-shaped frame (1); the slide seat (2) is connected to the first guide rail (11) via a support frame (12); a first electric cylinder (13) is fixed on the door-shaped frame (1); a moving end of the first electric cylinder (13) is connected to the support frame (12); and the slide seat (2) is driven by the first electric cylinder (13) to move up and down.

3. The gripper device for automatic suspension of tire bead of tire building machine according to claim 1, characterized in that: A servo motor is provided on the gear, and the servo motor drives the gear to drive the turntable (3) to move forward and backward.

4. The gripper device for automatic suspension of tire bead of tire building machine according to claim 1, characterized in that: The turntable (3) is a 150*100 rectangular tube. A turntable (31) is fixedly arranged above the turntable (3). The turntable (31) is a cylindrical structure. The turntable (31) is connected to the second guide rail (21) below the slide seat (2) through a toothed disc (32). The turntable (31) is driven by a servo motor to drive the turntable (3) and a gripper device (4) connected to the turntable (3) to rotate.

5. A gripper device for automatic suspension of tire bead of tire building machine according to claim 1 or 4, characterized in that: The gripping device (4) can be rotated by ±90 degrees via the turntable (3).

6. The gripper device for automatic suspension of tire bead of tire building machine according to claim 1, characterized in that: The gripper device (4) comprises a gripper (41) and a pneumatic suction cup (42), wherein the gripper (41) is located behind the pneumatic suction cup (42), and the pneumatic suction cup (42) is located on both sides of the gripper (41), the gripper (41) is mounted on the lower surface of the turntable (3) via a second group of guide rail pairs (44), a first group of guide rail pairs (43) is mounted on the lower surface of the turntable (3), the second group of guide rail pairs (44) is fixedly mounted on the lower guide rail (431) of the second group of guide rail pairs (44), a fixed bracket (45) is connected to the first group of guide rail pairs (43), a first cylinder (451) is provided on the fixed bracket (45), and a moving end of the first cylinder (451) is connected to the gripper (41); A second cylinder (46) is connected below the fixed bracket (45), the second cylinder (46) is connected to a third cylinder (47) via a first bent plate (461), a second bent plate (48) is connected below the third cylinder (47), the pneumatic suction cup (42) is installed below the second bent plate (48), and the fixed bracket (45) is connected to a second electric cylinder (452) installed on the lower surface of the turntable (3).

7. The gripper device for automatic suspension of tire bead of tire building machine according to claim 6, characterized in that: An electromagnet (411) is fixed on the gripper hook below the gripper (41).

8. The gripper device for automatic suspension of tire bead of tire building machine according to claim 6, characterized in that: The number of the pneumatic suction cups (42) is two, and the installation angle of the two pneumatic suction cups (42) is 10 degrees, which is consistent with the inclination angle of the tire bead rubber surface.

9. The gripper device for automatic suspension of tire bead of tire building machine according to claim 6, characterized in that: A switch bracket (481) is installed inside the second bent plate (48), and a proximity switch (482) is installed transversely on the switch bracket (481).

10. The gripper device for automatic suspension of tire bead of tire building machine according to claim 6, characterized in that: Two translation cylinders (483) are installed on the left and right sides above the second bending plate (48), and two brackets are installed on the translation cylinders (483), namely a left bracket (484) and a right bracket (485), and the left bracket (484) and the right bracket (485) are L-shaped.

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