Tire grabbing manipulator

Abstract

The utility model relates to the field of tire production equipment, in particular to a tire grabbing manipulator, which comprises a mounting protection frame and a tire clamping mechanism, the tire clamping mechanism comprises a clamping cylinder and transverse clamping jaws capable of reciprocating at two ends of the clamping cylinder, the clamping cylinder is fixedly connected onto the mounting protection frame, and the transverse clamping jaws are fixedly connected onto the mounting protection frame. The lower part of the transverse clamping jaw is fixedly connected with a gripper which is supported outwards from the inside of the tire; and the tire height detection mechanism is used for detecting the height difference between the gripper and the tire and controlling the clamping cylinder to act. According to the tire clamping mechanism disclosed by the utility model, the tongs which are expanded from inside to outside are adopted, so that the clamping and feeding requirements of various tires with different materials, different sizes and specifications and different feeding modes can be met; the relative height of the gripper and the tire is detected through the tire height detection mechanism, then the action of the clamping air cylinder is controlled to complete tire picking and placing, the automation degree of the tire grabbing action is effectively improved, and the manual participation link is replaced.

Description

Technical Field

[0001] The utility model relates to the field of tire production equipment, in particular to a tire grabbing manipulator. Background Art

[0002] The currently commonly used two-wheeled electric vehicle tire grabbing solution is to use a parallel feeding mechanism or rely on manual transportation to the production line for assembly. Although the simple tire grabbing mechanism can realize the function on the surface, it is not continuous, the number of tires stored is limited, and only a small number of tires can be taken and placed each time. In addition, manual participation is required for related auxiliary actions, which is not convenient for the upgrade planning and connection of automated production lines, and has low efficiency and high labor costs. Utility Model Content

[0003] The utility model aims to solve the above problems and provides a tire grabbing manipulator, which adopts the following technical solutions:

[0004] A tire gripping robot comprises a mounting protection frame and a tire clamping mechanism, wherein the tire clamping mechanism comprises a clamping cylinder and transverse clamping jaws that can reciprocate at both ends of the clamping cylinder, the clamping cylinder is fixedly connected to the mounting protection frame, and the lower part of the transverse clamping jaw is fixedly connected to a gripper that supports outward from the inside of the tire; and also comprises a tire height detection mechanism for detecting the height difference between the gripper and the tire and controlling the action of the clamping cylinder.

[0005] On the basis of the above scheme, the tire height detection mechanism includes a transverse fixing plate, a guide column, a reset spring and a transverse pressure plate. The transverse fixing plate is fixedly connected to the bottom of the mounting protection frame through a vertical fixing plate. The guide column is connected to the transverse fixing plate in the vertical direction. The reset spring is sleeved on the outside of the guide column. The guide column and the reset spring pass through the transverse pressure plate, and the transverse pressure plate moves back and forth along the guide column. The transverse pressure plate is laterally arranged above the tire, and both ends of the transverse pressure plate protrude from the outer edge of the highest point of the tire.

[0006] Based on the above solution, the number of the guide columns is 2, and they are symmetrically arranged at both ends of the transverse pressure plate.

[0007] Preferably, the tire height detection mechanism also includes a displacement detection plate and a displacement sensor. The displacement detection plate is fixedly mounted on the mounting protection frame. A detection slide groove is vertically arranged on the upper edge of the displacement detection plate. The detection end of the displacement sensor can be slidably arranged in the detection slide groove and moves synchronously with the transverse pressure plate.

[0008] Preferably, the tire clamping mechanism further comprises a clamping sensor for detecting the action position of the lateral clamping jaws.

[0009] Preferably, the transverse clamp is connected to the gripper via a guide mechanism, the bottom surface of the guide mechanism is a guide slope, and the guide slope is arranged above the tire.

[0010] Preferably, it also includes a tire signal detection mechanism for detecting a tire presence signal, and the tire signal detection mechanism is arranged on the mounting protection frame and is arranged toward the tire.

[0011] Preferably, there are multiple tire clamping mechanisms, which are distributed in the horizontal direction.

[0012] Preferably, the installation protection frame is made of Q235 material, a solenoid valve and connecting cables are arranged inside the installation protection frame, and a vent hole is arranged on the outer surface of the installation protection frame.

[0013] Preferably, the gripper has an arc-shaped surface on the side facing the tire.

[0014] The beneficial effects of the utility model are as follows: the tire clamping mechanism adopts a gripper that is stretched out from the inside to the outside, which can meet the clamping and feeding requirements of various tires of different materials, different sizes and specifications and different feeding methods; the relative height between the gripper and the tire is detected by the tire height detection mechanism, and then the action of the clamping cylinder is controlled to complete the tire picking and placing, effectively improving the degree of automation of the tire grabbing action and replacing the manual participation link; the tire signal detection mechanism, displacement sensor, clamping sensor and other equipment are used to effectively detect the tire state, position and component movement, so as to achieve stable and rapid tire grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 : Schematic diagram of the structure of the utility model;

[0016] Figure 2 : Another perspective structural schematic diagram of the utility model. DETAILED DESCRIPTION

[0017] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0018] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] In the description of the present utility model, it should be understood that the terms "center", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0020] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0021] like Figure 1 to Figure 2 As shown, a tire grabbing manipulator includes a mounting protection frame 21 and a tire clamping mechanism, wherein the tire clamping mechanism includes a clamping cylinder 231 and a transverse clamping jaw 232 that can reciprocate at both ends of the clamping cylinder 231 (the figure shows two working positions of the transverse clamping jaw 232, retracted and extended), the clamping cylinder 231 is fixedly connected to the mounting protection frame 21, and the lower part of the transverse clamping jaw 232 is fixedly connected to a gripper 235 that supports from the inside of the tire to the outside. Preferably, the gripper 235 is an arc-shaped surface facing the tire side to adapt to the internal shape of the tire and avoid damage to the tire caused by the edge of the gripper 235. The transverse clamping jaw 232 is connected to the gripper 235 through a guide mechanism, and the bottom surface of the guide mechanism is a guide slope 234, which is arranged above the tire. The guide slope 234 is used to guide and adjust the tire with an inappropriate placement angle, so that it gradually slides to a horizontal posture for easy grasping by the gripper, and avoids the situation of inadequate grasping and tire falling due to tire tilt. The tire clamping mechanism further includes a clamping sensor 233 for detecting the action position of the lateral clamping jaw 232. When the clamping sensor 233 detects that the lateral clamping jaw 232 has not reached the predetermined action position, an alarm signal is issued.

[0022] It also includes a tire height detection mechanism for detecting the height difference between the gripper 235 and the tire and controlling the action of the clamping cylinder 231. The tire height detection mechanism includes a transverse fixing plate 222, a guide column 224, a reset spring 225 and a transverse pressing plate 226. The transverse fixing plate 222 is fixedly connected to the bottom of the mounting protection frame 21 through a vertical fixing plate 221. The guide column 224 is connected to the transverse fixing plate 222 in the vertical direction. The guide column 224 is connected to a linear bearing 223 above the guide column 224. The reset spring 225 is sleeved on the outer side of the guide column 224. The guide column 224 and the reset spring 225 are arranged through the transverse pressing plate 226, and the transverse pressing plate 226 reciprocates along the guide column 224. The transverse pressing plate 226 is arranged above the tire in the transverse direction, and both ends of the transverse pressing plate 226 protrude from the outer edge of the highest point of the tire. The number of the guide columns 224 is 2, and they are symmetrically arranged at both ends of the transverse pressing plate 226 to ensure the accuracy of the moving path and angle of the transverse pressing plate 226. The tire height detection mechanism also includes a displacement detection plate 227 and a displacement sensor 229. The displacement detection plate 227 is fixedly mounted on the mounting protection frame 21. A detection slide groove 228 is vertically arranged on the displacement detection plate 227. The detection end of the displacement sensor 229 can be slidably arranged in the detection slide groove 228 and moves synchronously with the transverse pressure plate 226. When it is necessary to grab the tire, the protective frame 21 is installed to drive the tire clamping mechanism to move above the tire to be grabbed, and the brake drives the tire grabbing mechanism to fall. At this time, the clamping cylinder 231 drives the lateral clamping jaw 232 to maintain the retracted position, and the lateral pressure plate 224 contacts the upper surface of the tire and abuts against it, the reset spring 225 is compressed, and the detection end of the displacement sensor 229 moves up with the lateral pressure plate 226. After moving to the predetermined position, the displacement sensor 229 sends a signal, indicating that the gripper 235 has fallen to the middle of the tire at this time, the clamping cylinder 231 is actuated, the lateral clamping jaw 232 extends outward, and the gripper 235 supports and tightens the tire from the inside of the tire to complete the grabbing action; after the protective frame 21 is installed to move the tire to the appropriate position, the clamping cylinder 231 drives the lateral clamping jaw 232 to retract, and the gripper 235 releases the tire to complete the entire pick-up and placement action, and then repeats the above process.

[0023] The tire signal detection mechanism 24 is also included to detect the tire presence signal, and the tire signal detection mechanism 24 is arranged on the mounting protection frame 21 and is arranged toward the tire. The tire signal detection mechanism 24 can select a laser sensor to instantly detect and transmit a signal that the tire exists and the position is accurate.

[0024] Preferably, there are multiple tire clamping mechanisms, which are distributed in the horizontal direction, so that the picking and placing actions of multiple tires can be completed at one time, thereby improving the gripping efficiency.

[0025] The installation protection frame 21 is made of Q235 material, with high structural strength and reliability. A solenoid valve and connecting cables are arranged inside the installation protection frame 21, and ventilation holes are arranged on the outer surface of the installation protection frame 21 to facilitate heat dissipation of the internal electrical components.

[0026] The present invention is described above by way of examples, but the present invention is not limited to the above specific embodiments, and any changes or modifications based on the present invention belong to the scope of protection required by the present invention.

Claims

1. A tire grabbing manipulator, characterized in that: The invention comprises a mounting protection frame (21) and a tire clamping mechanism, wherein the tire clamping mechanism comprises a clamping cylinder (231) and transverse clamping jaws (232) reciprocatingly movable at both ends of the clamping cylinder (231), the clamping cylinder (231) being fixedly connected to the mounting protection frame (21), and the lower part of the transverse clamping jaw (232) being fixedly connected to a gripper (235) supporting outward from the inside of the tire; and further comprising a tire height detection mechanism for detecting the height difference between the gripper (235) and the tire and controlling the action of the clamping cylinder (231).

2. A tire grabbing manipulator according to claim 1, characterized in that: The tire height detection mechanism comprises a transverse fixing plate (222), a guide column (224), a return spring (225) and a transverse pressing plate (226); the transverse fixing plate (222) is fixedly connected to the bottom of the mounting protection frame (21) through a vertical fixing plate (221); the guide column (224) is connected to the transverse fixing plate (222) in a vertical direction; the return spring (225) is sleeved on the outside of the guide column (224); the guide column (224) and the return spring (225) are arranged through the transverse pressing plate (226); the transverse pressing plate (226) reciprocates along the guide column (224); the transverse pressing plate (226) is arranged above the tire in a transverse direction, and both ends of the transverse pressing plate (226) protrude from the outer edge of the highest point of the tire.

3. A tire grabbing manipulator according to claim 2, characterized in that: The number of the guide columns (224) is two, and they are symmetrically arranged at both ends of the transverse pressure plate (226).

4. A tire grabbing manipulator according to claim 2, characterized in that: The tire height detection mechanism further comprises a displacement detection plate (227) and a displacement sensor (229); the displacement detection plate (227) is fixedly mounted on the mounting protection frame (21); a detection slide groove (228) is vertically mounted on the displacement detection plate (227); a detection end of the displacement sensor (229) is slidably mounted in the detection slide groove (228) and moves synchronously with the transverse pressure plate (226).

5. A tire grabbing manipulator according to claim 1, characterized in that: The tire clamping mechanism also includes a clamping sensor (233) for detecting the action position of the lateral clamping jaw (232).

6. A tire grabbing manipulator according to claim 1, characterized in that: The transverse clamping jaw (232) and the gripper (235) are connected via a guide mechanism, the bottom surface of the guide mechanism is a guide slope (234), and the guide slope (234) is arranged above the tire.

7. A tire grabbing manipulator according to claim 1, characterized in that: It also includes a tire signal detection mechanism (24) for detecting a tire presence signal, wherein the tire signal detection mechanism (24) is arranged on the mounting protection frame (21) and is arranged toward the tire.

8. The tire grabbing manipulator according to claim 1, characterized in that: The tire clamping mechanisms are multiple in number and distributed in the horizontal direction.

9. A tire grabbing manipulator according to claim 1, characterized in that: The installation protection frame (21) is made of Q235 material, a solenoid valve and a connecting cable are arranged inside the installation protection frame (21), and a ventilation hole is arranged on the outer surface of the installation protection frame (21).

10. A tire grabbing manipulator according to claim 1, characterized in that: The gripper (235) has an arc-shaped surface on the side facing the tire.

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