Manipulator of vulcanizing machine

Abstract

When the vulcanizing machine manipulator is used, a first driving piece drives a lifting assembly to move on a sliding rail in the vertical direction, so that the lifting assembly reaches a preset position, a second driving piece drives a rotating shaft to rotate around the axis of the rotating shaft, and the rotating shaft drives a claw disc assembly to swing in the horizontal direction, so that positioning of the claw disc assembly is achieved. According to the vulcanizing machine manipulator, the rotating shaft is arranged and connected with the claw disc assembly, so that the claw disc assembly is positioned through rotation of the rotating shaft, the claw disc assembly can be accurately positioned due to the fact that the rotating angle of the rotating shaft is adjustable, and meanwhile compared with the prior art, the rotating angle of the rotating shaft is adjustable. According to the mechanical arm of the vulcanizing machine, a swinging oil cylinder is omitted, hydraulic oil leakage is avoided, and therefore the working efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of vulcanizing machine equipment, in particular to a vulcanizing machine manipulator. Background Art

[0002] The tire manipulator is an essential component of the tire shaping and vulcanizing machine. Its function is to grab the tire embryo when loading the tire and grab the tire when unloading the tire. The engineering tire vulcanizing machine has higher requirements for the design structure of the manipulator due to its characteristics of large specifications and heavy weight of the tires it grabs. The manipulator in the prior art is easy to shake due to its thin load-bearing structure, and has the disadvantages of large swing amplitude of the oil cylinder and inaccurate precise positioning. At the same time, the rotation in and out of the manipulator is realized by the swing cylinder, and the rotation of the manipulator's column rotating part is controlled by the extension and retraction of the swing cylinder rod. Because the engineering tire is heavy and the weight of the manipulator claw plate is added, the swing cylinder needs to swing with great force, and the load of the cylinder increases, which is easy to cause leakage. The leakage of hydraulic oil will contaminate the tire embryo and is difficult to clean. At the same time, it is easy to cause the pressure of the hydraulic system to decrease, thereby affecting the working efficiency of the manipulator.

[0003] Therefore, how to improve the working efficiency of the robot is a technical problem that technical personnel in this field currently need to solve. Utility Model Content

[0004] In view of this, the purpose of the utility model is to provide a vulcanizing machine manipulator to improve the working efficiency of the manipulator;

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A vulcanizing machine robot comprises a first driving member, a lifting assembly, a slide rail, a second driving member, a rotating shaft and a claw plate assembly, wherein:

[0007] The first driving member is connected to the lifting assembly and is used to drive the lifting assembly to move in a vertical direction;

[0008] The lifting assembly is connected to the slide rail and moves along the slide rail;

[0009] The rotating shaft is connected to the lifting assembly, and the second driving member is connected to the rotating shaft, and is used to drive the rotating shaft to rotate around its own axis;

[0010] The claw disc assembly is connected to the rotating shaft, and when the rotating shaft rotates around its own axis, the claw disc assembly swings in the horizontal direction.

[0011] Optionally, in the above-mentioned vulcanizer manipulator, the claw plate assembly includes a claw plate and a rotating arm, a first end of the rotating arm is fixedly connected to the rotating shaft, and a second end of the rotating arm is connected to the claw plate.

[0012] Optionally, in the above-mentioned vulcanizing machine robot, the first driving member is a cylinder-in-cylinder oil cylinder.

[0013] Optionally, in the above-mentioned vulcanizing machine robot, the second driving member is a swing frequency conversion motor reducer.

[0014] Optionally, in the above-mentioned vulcanizer manipulator, the vulcanizer manipulator further includes a flexible displacement sensor, which is arranged inside the lifting assembly and is used to detect the displacement of the lifting assembly.

[0015] Optionally, in the above-mentioned vulcanizer manipulator, the lifting assembly includes a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are arranged opposite to each other, and the first mounting plate and the second mounting plate are used to install the first driving member.

[0016] Optionally, in the above-mentioned vulcanizer manipulator, the lifting assembly also includes a third mounting plate and a fourth mounting plate, the third mounting plate and the fourth mounting plate are arranged relative to each other, the third mounting plate is used to connect the second driving member, and the third mounting plate is connected to the first end of the rotating shaft, and the fourth mounting plate is connected to the second end of the rotating shaft.

[0017] Optionally, in the above-mentioned vulcanizer manipulator, the lifting assembly also includes a frame, the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate are connected to the frame, the frame includes a horizontal plate and a vertical plate, and the horizontal plate and the vertical plate are welded.

[0018] Optionally, in the above-mentioned vulcanizer manipulator, the lifting assembly further includes a limiting member, the limiting member is connected to the frame, and the limiting member is used to limit the rotating shaft.

[0019] Optionally, in the above-mentioned vulcanizing machine manipulator, the limiting member is a limiting plate, and the limiting plate is trapezoidal.

[0020] The vulcanizer manipulator provided by the utility model, when in use, the first driving member drives the lifting assembly to move in the vertical direction on the slide rail, so that the lifting assembly reaches a preset position, and the second driving member drives the rotating shaft to rotate around its own axis, and the rotating shaft drives the claw plate assembly to swing in the horizontal direction to achieve the positioning of the claw plate assembly. By arranging the rotating shaft and connecting it with the claw plate assembly, the vulcanizer manipulator realizes the positioning of the claw plate assembly through the rotation of the rotating shaft. Because the rotation angle of the rotating shaft is adjustable, the precise positioning of the claw plate assembly can be achieved. At the same time, compared with the prior art, the vulcanizer manipulator provided by the utility model omits the swing oil cylinder, avoids the leakage of hydraulic oil, and thus improves the working efficiency of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is a front view of a vulcanizing machine manipulator disclosed in an embodiment of the utility model;

[0023] Figure 2 A top view of a vulcanizing machine manipulator disclosed in an embodiment of the utility model;

[0024] Figure 3 It is a partial enlarged view of the vulcanizing machine manipulator disclosed in the embodiment of the utility model;

[0025] Figure 4 It is a side view of the lifting assembly disclosed in the embodiment of the utility model;

[0026] Figure 5 It is a front view of the lifting assembly disclosed in the embodiment of the utility model;

[0027] Figure 6 A top view of the lifting assembly disclosed in the embodiment of the utility model;

[0028] in:

[0029] The first driving member 100, the slide rail 200, the second driving member 300, the rotating shaft 400, the drag chain 500, the claw plate 600, the rotating arm 601, the flexible displacement sensor 700, the first mounting plate 800, the second mounting plate 801, the third mounting plate 802, the fourth mounting plate 803, the horizontal plate 804, the vertical plate 805, and the limiting member 900. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making novel work are within the scope of protection of the utility model.

[0031] In the description of the present invention, it should be understood that the terms "upper", "lower", "top surface", "bottom surface" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the positions or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations of the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] like Figure 1-Figure 6 As shown, the vulcanizer manipulator disclosed in the utility model includes a first driving member 100, a lifting assembly, a slide rail 200, a second driving member 300, a rotating shaft 400 and a claw plate assembly, wherein the first driving member 100 is connected to the lifting assembly and is used to drive the lifting assembly to move in a vertical direction, the lifting assembly is connected to the slide rail 200 and moves along the slide rail 200, the rotating shaft 400 is connected to the lifting assembly, and the second driving member 300 is connected to the rotating shaft 400 and is used to drive the rotating shaft 400 to rotate around its own axis, and the claw plate assembly is connected to the rotating shaft 400. When the rotating shaft 400 rotates around its own axis, the claw plate assembly swings in a horizontal direction. Specifically, the vulcanizer manipulator also includes a drag chain 500, which has cables, hydraulic pipes, air pipes, etc. The drag chain 500 is connected to the lifting assembly. As the lifting assembly rises and falls, the end of the drag chain 500 connected to the lifting assembly also rises and falls to protect the cables and pipelines. The vulcanizer manipulator provided by the utility model, when in use, the first driving member 100 drives the lifting assembly to move in the vertical direction on the slide rail 200, so that the lifting assembly reaches a preset position, and the second driving member 300 drives the rotating shaft 400 to rotate around its own axis, and the rotating shaft 400 drives the claw plate assembly to swing in the horizontal direction to achieve the positioning of the claw plate assembly. By arranging the rotating shaft 400 and connecting it with the claw plate assembly, the vulcanizer manipulator realizes the positioning of the claw plate assembly through the rotation of the rotating shaft 400. Because the rotation angle of the rotating shaft 400 is adjustable, the precise positioning of the claw plate assembly can be achieved. At the same time, compared with the prior art, the vulcanizer manipulator provided by the utility model saves the swing oil cylinder, avoids the leakage of hydraulic oil, and thus improves the working efficiency of the manipulator.

[0033] In order to optimize the above technical solution, the claw plate assembly includes a claw plate 600 and a rotating arm 601. The first end of the rotating arm 601 is fixedly connected to the rotating shaft 400, and the second end thereof is connected to the claw plate 600. Specifically, the first end of the rotating arm 601 is welded to the rotating shaft 400, and the second end thereof is connected to the claw plate 600. When in use, the claw plate 600 is used to grab and remove the tire, and the rotating arm 601 is used to drive the turntable to move. The rotating arm 601 is L-shaped, and its shorter end is the second end. The claw plate 600 is fixed to the bottom of the second end of the rotating arm 601 and is fixedly connected thereto. Such an arrangement enables the claw plate 600 and the rotating arm 601 to be stably connected, thereby improving the working efficiency of the manipulator.

[0034] In order to optimize the above technical solution, the first driving member 100 is a sleeve cylinder. It should be noted that in the prior art, ordinary cylinders are often used in vulcanizer manipulators. When ordinary cylinders are used as cylinders to drive the claw plate assembly to rise and fall, the length of the cylinder rod will be designed to be longer. When the cylinder rod is extended longer or extended to the limit, it is easy to twist, tremble and other phenomena, thereby affecting the service life of the sleeve cylinder and the stability of the vulcanizer manipulator. Therefore, the utility model uses a sleeve cylinder. The sleeve cylinder is a multi-stage hydraulic cylinder with the advantages of small length and large cylinder barrel. It can fully meet the requirements of heavy loads, sudden loads and high frequency operations. It has a throttling function and a buffer chamber sealing structure, and belongs to a high-performance buffer cylinder. It can run smoothly, with a small pressure peak, and the performance is obviously more superior. Therefore, the use of a sleeve cylinder can further improve the working efficiency of the manipulator.

[0035] In order to optimize the above technical solution, the second driving member 300 is a swing frequency conversion motor reducer. Specifically, the swing frequency conversion motor reducer is a planetary transmission principle, which can adapt to long-term large torque mechanical movement. And the single-machine transmission can achieve a high reduction ratio of 1:87 and a high efficiency of more than 90%, with a compact structure and small size, while running smoothly and low noise, which can minimize vibration and noise. Specifically, the swing frequency conversion motor reducer includes a motor gear, and the lifting component includes a swing arm gear. When in use, the swing arm 601 gear is connected to the rotating shaft 400, and the motor gear is meshed with the swing arm gear. The swing frequency conversion motor reducer drives the motor gear to rotate, the motor gear drives the swing arm gear to rotate, and the swing arm gear drives the rotating shaft 400 to rotate around its own axis. The rotating shaft 400 drives the swing arm 601 to swing in the horizontal direction to achieve accurate positioning of the claw plate 600 in the horizontal direction. Through the precise matching of the swing frequency conversion motor reducer, the motor gear, the swing arm gear and the rotating shaft 400, the accurate positioning of the claw plate 600 can be achieved, thereby improving the working efficiency of the manipulator.

[0036] In order to optimize the above technical solution, the vulcanizer manipulator also includes a flexible displacement sensor 700, which is arranged inside the lifting assembly to detect the displacement of the lifting assembly. It should be noted that in the prior art, the vulcanizer manipulator often uses ordinary displacement sensors. Because the displacement length to be detected is relatively large, the length of the ordinary displacement sensor is relatively long and the space occupied is relatively large. The flexible displacement sensor 700 has a sophisticated structure and accurate detection. It can be built into the interior of the lifting assembly. The vibration and shaking generated during the operation of the lifting assembly will not affect the detection data of the flexible displacement sensor 700. When in use, the flexible displacement sensor 700 detects the displacement of the lifting assembly to position the lifting assembly, so that the lifting assembly rises or falls to a preset position. Therefore, the vulcanizer manipulator adopts the flexible displacement sensor 700 to realize the accurate detection of the displacement of the lifting assembly, thereby improving the working efficiency of the manipulator.

[0037] In order to optimize the above technical solution, the lifting assembly includes a first mounting plate 800 and a second mounting plate 801, which are arranged opposite to each other and are used to install the first driving member 100. Specifically, the middle parts of the first mounting plate 800 and the second mounting plate 801 are both provided with mounting holes for installing the first driving member 100. When in use, the first driving member 100 is connected to the lifting assembly to drive the lifting assembly to rise or fall.

[0038] In order to optimize the above technical solution, the lifting assembly further includes a third mounting plate 802 and a fourth mounting plate 803, the third mounting plate 802 and the fourth mounting plate 803 are arranged oppositely, the third mounting plate 802 is used to connect the second driving member 300, and the third mounting plate 802 is connected to the first end of the rotating shaft 400, and the fourth mounting plate 803 is connected to the second end of the rotating shaft 400. Specifically, the third mounting plate 802 and the fourth mounting plate 803 are distributed vertically up and down, and the second driving member 300 is arranged on the top of the third mounting plate 802 to connect the first end of the rotating shaft 400. When in use, the rotating shaft 400 is arranged between the third mounting plate 802 and the fourth mounting plate 803, and the fourth mounting plate 803 bears the weight of the rotating shaft 400, so that the overall force of the lifting assembly is uniform and stable. When the lifting assembly rises or falls, it drives the rotating shaft 400 to move together, thereby realizing the rise or fall of the claw plate assembly.

[0039] In order to optimize the above technical solution, the lifting assembly also includes a frame, and the first mounting plate 800, the second mounting plate 801, the third mounting plate 802 and the fourth mounting plate 803 are connected to the frame, and the frame includes a horizontal plate 804 and a vertical plate 805, and the horizontal plate 804 and the vertical plate 805 are welded. Specifically, the lifting assembly adopts a welded box structure, that is, multiple horizontal plates 804 and multiple vertical plates 805 are welded and connected to form a box, so that the rigidity and strength of the lifting assembly are very high, and the rotating shaft 400, the slide rail 200, the motor gear, the rotating arm 601 gear and other parts are assembled together according to a certain position relationship, so that it has high compressive strength and good vibration reduction performance. At the same time, the welded box structure is designed according to 1.8 times the safety factor, so that it runs safely and stably, thereby improving the working efficiency of the manipulator.

[0040] In order to optimize the above technical solution, the lifting assembly further includes a stopper 900, which is connected to the frame and is used to stop the rotating shaft 400. Specifically, the number of the stopper 900 is one or more, and the preferred number of the stopper 900 in the utility model is two, which are respectively arranged on both sides of the radial direction of the rotating shaft 400, that is, a left stopper and a right stopper are included to stop the rotation of the rotating shaft 400. Specifically, a bolt hole for a bolt to pass through is provided on the stopper 900. When in use, the first end of the bolt is mounted on the stopper 900, and the second end thereof is arranged close to the rotating arm 601. Taking the example that there are two limiters 900, which are respectively arranged on both radial sides of the rotating shaft 400, when in use, the rotating shaft 400 rotates around its own axis. When it rotates to one radial side, after the bolt on the left limiter touches the rotating arm 601, the left limiter limits it, so that the rotating shaft 400 rotates in the opposite direction. After the bolt on the right limiter touches the rotating arm 601, the right limiter limits it, so that the rotating shaft 400 rotates in the opposite direction, and so on, the cycle is realized to limit the rotating shaft 400. Such an arrangement can make the rotation of the rotating shaft 400 within a preset range, thereby protecting the rotating shaft 400 and the lifting assembly, and prolonging the service life of the vulcanizer manipulator.

[0041] In order to optimize the above technical solution, the limiter 900 is a limiter plate, which is trapezoidal. Specifically, the limiter plate can be an integrated design or formed by splicing two plates. The operator can reinforce the limiter plate according to the use needs. Such an arrangement can increase the service life of the limiter plate and enhance the stability of the limiter 900.

[0042] The advantages of the utility model are:

[0043] (1) Improve the working efficiency of the manipulator;

[0044] (2) Safe and stable operation;

[0045] (3) It is possible to achieve precise positioning of the claw disc assembly.

[0046] It should be noted that the vulcanizing machine manipulator provided by the utility model can be used in the technical field of vulcanizing machine equipment or other fields. Other fields are any fields other than the technical field of vulcanizing machine equipment. The above is only an example and does not limit the application field of the vulcanizing machine manipulator provided by the utility model.

[0047] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0048] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. 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 utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0050] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A vulcanizing machine robot, characterized in that: It includes a first driving member, a lifting assembly, a slide rail, a second driving member, a rotating shaft and a claw plate assembly, wherein: The first driving member is connected to the lifting assembly and is used to drive the lifting assembly to move in a vertical direction; The lifting assembly is connected to the slide rail and moves along the slide rail; The rotating shaft is connected to the lifting assembly, and the second driving member is connected to the rotating shaft, and is used to drive the rotating shaft to rotate around its own axis; The claw plate assembly is connected to the rotating shaft, and when the rotating shaft rotates around its own axis, the claw plate assembly swings in the horizontal direction.

2. The vulcanizing machine robot according to claim 1, characterized in that: The claw plate assembly comprises a claw plate and a rotating arm, wherein a first end of the rotating arm is fixedly connected to the rotating shaft, and a second end of the rotating arm is connected to the claw plate.

3. The vulcanizing machine robot according to claim 1, characterized in that: The first driving member is a sleeve cylinder.

4. The vulcanizing machine robot according to claim 1, characterized in that: The second driving member is a swing frequency conversion motor reducer.

5. The vulcanizing machine robot according to claim 1, characterized in that: The vulcanizer robot further comprises a flexible displacement sensor, which is arranged inside the lifting assembly and is used to detect the displacement of the lifting assembly.

6. The vulcanizing machine robot according to claim 1, characterized in that: The lifting assembly includes a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are arranged opposite to each other, and the first mounting plate and the second mounting plate are used to mount the first driving member.

7. The vulcanizing machine robot according to claim 6, characterized in that: The lifting assembly also includes a third mounting plate and a fourth mounting plate, the third mounting plate and the fourth mounting plate are arranged opposite to each other, the third mounting plate is used to connect the second driving member, and the third mounting plate is connected to the first end of the rotating shaft, and the fourth mounting plate is connected to the second end of the rotating shaft.

8. The vulcanizing machine robot according to claim 7, characterized in that: The lifting assembly also includes a frame, the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate are connected to the frame, the frame includes a horizontal plate and a vertical plate, and the horizontal plate and the vertical plate are welded.

9. The vulcanizing machine robot according to claim 8, characterized in that: The lifting assembly further includes a limiting member, which is connected to the frame and is used to limit the rotating shaft.

10. The vulcanizing machine robot according to claim 9, characterized in that: The limiting member is a limiting plate, and the limiting plate is trapezoidal.

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