Automatic tire grabbing manipulator

Abstract

The utility model discloses an automatic tire grabbing manipulator, which belongs to the technical field of automobile tire processing equipment, and comprises a mounting seat, a rotating shaft is mounted in the center of the top of the mounting seat, a central gear is arranged at the bottom of the mounting seat, and the central gear is fixedly connected with the bottom end of the rotating shaft. The bottom of the mounting base is rotatably connected with three planetary gears through pin shafts, the planetary gears are in meshed connection with the periphery of the center gear, the bottoms of the planetary gears are fixedly connected with arc swing arms, and the center gear and the planetary gears can be matched with a driving mechanism, so that the arc swing arms drive the first clamp to be unfolded; the tire inner ring opening grabbing device can grab tire inner ring opening positions of different sizes, grabbing is easy and convenient, firmness and reliability are achieved, the applicability is improved, meanwhile, the second clamp is additionally arranged, the situation that tires fall off during carrying is effectively prevented, the insecurity of manual tire carrying is reduced, the manual burden is relieved, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile tire processing equipment, and more specifically to an automatic tire grabbing manipulator. Background Art

[0002] Tire production factories produce thousands of tires every day. The handling and stacking of tires is a very important issue. After the tires are produced, they often need to be stacked. At this time, a robot is needed. In the prior art, traditional robots mostly grab the outer ring of the tire when grabbing the tire. Its stability is often low, and the tire is prone to fall when moving, and the use effect is not good. At the same time, in the process of transit storage of finished products or semi-finished products in the tire factory's stereoscopic warehouse, the entry and exit of tires involves a lot of handling work. Due to the variety of tire specifications, tires of different specifications require corresponding robots for gripping and transportation. The applicability of traditional robots is poor, resulting in reduced handling efficiency. Therefore, in view of this, the existing structure is studied and improved, and a tire automatic grabbing robot is provided to achieve a more practical purpose. Utility Model Content

[0003] 1. Technical issues to be solved

[0004] In view of the problems existing in the prior art, the purpose of the utility model is to provide an automatic tire grabbing robot, which can utilize the center gear and the planetary gear in conjunction with the driving mechanism so that the arc swing arm drives the clamp one to unfold, and can grab the inner rim position of tires of different sizes. The grabbing is simple, firm and reliable, and the applicability is improved. At the same time, the addition of the clamp two can effectively prevent the tire from falling during transportation, reduce the insecurity of manual transportation of tires, reduce the labor burden, and improve work efficiency.

[0005] 2. Technical solution

[0006] To solve the above problems, the utility model adopts the following technical solutions.

[0007] A tire automatic gripping robot comprises a mounting seat, a rotating shaft is installed at the top center position of the mounting seat, a central gear is arranged at the bottom of the mounting seat, and the central gear is fixedly connected to the bottom end of the rotating shaft, three planetary gears are rotatably connected to the bottom of the mounting seat through a pin shaft, the planetary gears are meshingly connected to the outer periphery of the central gear, a circular arc swing arm is fixedly connected to the bottom of the planetary gear, a clamp 1 is installed at the bottom of one end of the circular arc swing arm, a driving mechanism is arranged at the top of the mounting seat and is connected to the top end of the rotating shaft, and three clamps 2 are arranged at the top of the mounting seat.

[0008] Furthermore, the rotating shaft passes through the center of the mounting seat and is rotatably connected to the mounting seat via a bearing.

[0009] Furthermore, the clamp 1 includes a connecting rod 1 fixed to an end of the arc swing arm away from the planetary gear, and the bottom end of the connecting rod 1 is fixedly connected to a spherical chuck 1.

[0010] Furthermore, the driving mechanism includes a support base fixed at the center position of the top of the mounting base, a servo motor is installed on the top of the support base, and the output shaft of the servo motor is transmission-connected to the top of the rotating shaft through a coupling.

[0011] Furthermore, the second clamp includes a clamping cylinder fixed to the top of the mounting seat, the output end of the clamping cylinder is fixedly connected to an adjusting arm, the bottom of one end of the adjusting arm is fixedly connected to a connecting rod 2, and the bottom end of the connecting rod 2 is fixedly connected to a spherical chuck 2.

[0012] Furthermore, the three planetary gears and the three clamping cylinders are equidistantly distributed at the bottom and top edge positions of the mounting seat, and each clamping cylinder is arranged between two adjacent planetary gears.

[0013] 3. Beneficial effects

[0014] Compared with the prior art, the advantages of the present invention are:

[0015] (1) This solution forms a linkage through the center gear and the planetary gear, and with the cooperation of the driving mechanism, the arc swing arm drives the clamp to expand along the center point of the center gear and clamp the inner ring edge of the tire. The grasping and carrying is simple, the time is short, and it is firm and reliable. At the same time, the overall applicability is also improved. It can be used for clamping different tires, which reduces the labor burden and improves the efficiency of the handling work.

[0016] (2) This solution, by adding a second clamp and utilizing a clamping cylinder, can drive the second spherical clamp to move downward and clamp the tire sidewall, thereby effectively preventing the tire from falling during transportation, improving its clamping stability, and reducing the insecurity of manual tire transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the axial effect of grabbing a tire according to the utility model;

[0018] Figure 2 For the utility model Figure 1 A schematic cross-sectional structure diagram of ;

[0019] Figure 3 This is a schematic diagram of the structure of the utility model in a contracted state;

[0020] Figure 4 This is a schematic diagram of the structure of the expanded state view of the utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the second clamp of the utility model.

[0022] Description of the numbers in the figure:

[0023] 1. Mounting seat;

[0024] 2. Rotating shaft;

[0025] 3. Center gear;

[0026] 4. Planetary gear;

[0027] 5. Arc swing arm;

[0028] 6. A clamp; 601. A connecting rod; 602. A spherical chuck;

[0029] 7. Driving mechanism; 701. Support seat; 702. Servo motor; 703. Coupling;

[0030] 8. Clamp 2; 801. Clamping cylinder; 802. Adjusting arm; 803. Connecting rod 2; 804. Ball chuck 2;

[0031] 9. Pin shaft. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model; it is obvious that the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the utility model without making creative work are within the scope of protection of the utility model.

[0033] Example:

[0034] See also Figure 1-5 A tire automatic grasping manipulator comprises a mounting base 1, a rotating shaft 2 is installed at the top center position of the mounting base 1, a central gear 3 is arranged at the bottom of the mounting base 1, and the central gear 3 is fixedly connected to the bottom end of the rotating shaft 2, three planetary gears 4 are rotatably connected to the bottom of the mounting base 1 through a pin shaft 9, the planetary gears 4 are meshed with the outer periphery of the central gear 3, a circular arc swing arm 5 is fixedly connected to the bottom of the planetary gear 4, a clamp 6 is installed at the bottom of one end of the circular arc swing arm 5, a driving mechanism 7 is arranged at the top of the mounting base 1, and is connected to the top of the rotating shaft 2, and three clamps 8 are arranged at the top of the mounting base 1.

[0035] See also Figure 2 The rotating shaft 2 passes through the center of the mounting seat 1 and is rotatably connected to the mounting seat 1 through a bearing.

[0036] See also Figure 4The clamp 6 includes a connecting rod 601 fixed to the end of the arc swing arm 5 away from the planetary gear 4, and the bottom end of the connecting rod 601 is fixedly connected with a spherical clamp 602. When in use, the spherical clamp 602 is made of soft material and will not scratch the tire surface.

[0037] See also Figure 2 The driving mechanism 7 includes a support base 701 fixed at the top center position of the mounting base 1, a servo motor 702 is installed on the top of the support base 701, and the output shaft of the servo motor 702 is connected to the top of the rotating shaft 2 through a coupling 703.

[0038] See also Figure 5 The clamp 8 includes a clamping cylinder 801 fixed to the top of the mounting base 1, the output end of the clamping cylinder 801 is fixedly connected to an adjusting arm 802, the bottom of one end of the adjusting arm 802 is fixedly connected to a connecting rod 803, and the bottom end of the connecting rod 803 is fixedly connected to a spherical clamp 804. When in use, the spherical clamp 804 is made of soft material and will not scratch the tire surface. At the same time, with the cooperation of the clamping cylinder 801 and the adjusting arm 802, the spherical clamp 804 can be extended to the sidewall of the tire and clamped to prevent the tire from falling during transportation and improve its stability.

[0039] See also Figure 1 The three planetary gears 4 and the three clamping cylinders 801 are equidistantly distributed at the bottom and top edge positions of the mounting seat 1 , and each clamping cylinder 801 is arranged between two adjacent planetary gears 4 .

[0040] When in use: the tire is placed flat in the material area, the manipulator moves to the top of the tire, the manipulator moves downward, and stops when the spherical clamp 804 moves to the bottom of the tire mouth. At this time, the circular arc swing arm 5 is in a retracted state. When grabbing, the servo motor 702 works and drives the rotating shaft 2 to rotate through the coupling 703. The central gear 3 is connected to the rotating shaft 2 and can rotate around the center point of the rotating shaft 2. Since the planetary gear 4 is meshed with the central gear 3, when the central gear 3 rotates, the planetary gear 4 is driven to rotate synchronously. The circular arc swing arm 5 is pushed by the planetary gear 4 and unfolds with the central gear 3 as the center. The spherical clamp 1 602 extends to the bottom of the tire mouth and fits tightly with the mouth. At this time, the clamping cylinder 801 is started to extend its spherical clamp 2 804 to the tire sidewall position and clamp it. In this way, under the action of the spherical clamp 1 602 and the spherical clamp 2 804 inside and outside the tire, the tire is clamped and fixed. With the assistance of the external motion device, the tire can be easily transported to the designated area, realizing full-automatic tire transportation, short grabbing and transportation time, suitable for the clamping and transportation of tires of different sizes, greatly improving the efficiency of transportation work, and also improving the stability of grabbing, avoiding the tire from falling during transportation.

[0041] Finally, it should be noted that in the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0042] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

Claims

1. A tire automatic gripping manipulator, comprising a mounting seat (1), characterized in that: A rotating shaft (2) is installed at the center position of the top of the mounting seat (1), a central gear (3) is arranged at the bottom of the mounting seat (1), and the central gear (3) is fixedly connected to the bottom end of the rotating shaft (2), the bottom of the mounting seat (1) is rotatably connected to three planetary gears (4) through a pin shaft (9), the planetary gears (4) are meshingly connected to the outer circumference of the central gear (3), the bottom of the planetary gears (4) is fixedly connected to a circular arc swing arm (5), and a clamp 1 (6) is installed at the bottom of one end of the circular arc swing arm (5), a driving mechanism (7) is arranged at the top of the mounting seat (1), and is connected to the top end of the rotating shaft (2), and three clamps 2 (8) are arranged at the top of the mounting seat (1).

2. The tire automatic gripping manipulator according to claim 1 is characterized in that: The rotating shaft (2) passes through the center of the mounting seat (1) and is rotatably connected to the mounting seat (1) via a bearing.

3. The tire automatic gripping manipulator according to claim 1 is characterized in that: The clamp (6) comprises a connecting rod (601) fixed to one end of the circular arc swing arm (5) away from the planetary gear (4), and the bottom end of the connecting rod (601) is fixedly connected to a spherical clamp (602).

4. The tire automatic gripping manipulator according to claim 1 is characterized in that: The driving mechanism (7) comprises a support seat (701) fixed at the top center position of the mounting seat (1); a servo motor (702) is installed on the top of the support seat (701); and an output shaft of the servo motor (702) is drivingly connected to the top of the rotating shaft (2) via a coupling (703).

5. The tire automatic gripping manipulator according to claim 1, characterized in that: The second clamp (8) comprises a clamping cylinder (801) fixed to the top of the mounting seat (1), the output end of the clamping cylinder (801) is fixedly connected to an adjusting arm (802), the bottom of one end of the adjusting arm (802) is fixedly connected to a second connecting rod (803), and the bottom end of the second connecting rod (803) is fixedly connected to a second spherical chuck (804).

6. The tire automatic gripping manipulator according to claim 1, characterized in that: The three planetary gears (4) and the three clamping cylinders (801) are respectively and equidistantly distributed at the bottom and top edge positions of the mounting seat (1), and each clamping cylinder (801) is arranged between two adjacent planetary gears (4).

Images