Tire mounting manipulator capable of automatically switching five-axis and six-axis

Abstract

The utility model discloses a tire mounting manipulator capable of automatically changing five shafts and six shafts, which can adapt to the mounting of nuts / bolts with different specifications and models, and improves the tightening efficiency and the stability of equipment. Six tightening shafts which are annularly distributed are arranged in the hollow part of the bottom plate in a penetrating manner; an annular guide rail and two driving devices which are oppositely arranged are fixedly mounted on the mounting side of the bottom plate; four driving devices are connected to the annular guide rail in a sliding manner; each driving device is correspondingly in transmission connection with one tightening shaft so as to drive each tightening shaft to linearly move towards the annular center; a receding air cylinder is further fixedly installed on the installation side of the bottom plate, and the receding air cylinder is at least in transmission connection with one tightening shaft and used for driving the tightening shaft to do linear telescopic motion in the hollow part of the bottom plate. The bottom plate is further fixedly provided with an angular bisector changing air cylinder which is in transmission connection with the four driving devices on the annular guide rail and used for controlling the four driving devices to slide in the circumferential direction of the annular guide rail.

Description

Technical Field

[0001] The utility model belongs to the field of automatic installation of tire nuts / bolts, and in particular relates to a tire installation manipulator with five or six axes automatically changing. Background Art

[0002] Automobile tires come in a variety of specifications, and the tire size, number of bolts, and distribution positions of different models may be different. When the robot installs the tire, the nuts / bolts are installed in the corresponding mounting holes on the tire through the tightening shaft located on the corresponding pitch circle. When facing tires with different pitch circles and tightening shaft numbers, the robot with the corresponding pitch circle and tightening shaft number needs to be replaced to be able to install.

[0003] On an automobile production line, it may be necessary to frequently respond to the installation needs of tires of different specifications according to different requirements, but the existing tire installation robots can only work on five-axis or six-axis tires. This leads to the need to frequently replace the tire installation robots in actual work. This replacement process greatly delays production time and increases production costs.

[0004] Since the design and structure of five-axis and six-axis manipulators are relatively complex, complex motion planning is required during the automatic transformation process to ensure coordinated movement between the axes and avoid collisions between the axes. It is often difficult to enable tire mounting manipulators to perform free transformation between five and six axes through simple designs in the prior art. Utility Model Content

[0005] In order to overcome the deficiencies of the prior art, the utility model provides a tire installation robot with five-axis or six-axis automatic conversion, which can freely convert five axes and six axes, can adapt to the installation of nuts / bolts of different specifications and models, and improves the tightening efficiency and stability of the equipment.

[0006] The above-mentioned purpose of the utility model is achieved through the following technical solutions:

[0007] A tire installation robot with five or six axes automatic transformation, characterized in that it comprises a base plate, the middle part of which is hollow, and its two side surfaces serve as an installation side and a working side respectively; six tightening shafts arranged in a ring are passed through the hollow part of the base plate; an annular guide rail and two driving devices arranged relatively are fixedly installed on the installation side of the base plate; four driving devices are slidably connected to the annular guide rail; each driving device is correspondingly connected to a tightening shaft for driving each tightening shaft to move linearly toward the center of the ring; a yield cylinder is also fixedly installed on the installation side of the base plate, and the yield cylinder is transmission-connected to at least one of the tightening shafts for driving the tightening shaft to perform a linear telescopic action in the hollow part of the base plate; an angular dividing line changing cylinder transmission-connected to the four driving devices on the annular guide rail is also fixedly installed on the base plate for controlling the four driving devices to slide circumferentially along the annular guide rail.

[0008] Furthermore, the angular dividing line changing cylinder includes an angular dividing line changing cylinder a which is independently arranged on the installation side of the base plate and an angular dividing line changing cylinder b which is on the working side of the base plate. The angular dividing line changing cylinder a and the angular dividing line changing cylinder b are respectively connected to drive two driving devices to slide along the annular guide rail.

[0009] Furthermore, clamping claws are slidably connected to the two ends of the working side of the base plate respectively, and a clamping cylinder is fixedly installed on the working side of the base plate. The clamping cylinder is transmission-connected to the clamping claws to clamp and position the tire.

[0010] Furthermore, the driving device includes a servo motor, a reducer, a guide rail slider, and a ball screw. The servo motor is connected to the reducer, the reducer is connected to the ball screw for transmission, the guide rail slider is installed on the base plate mounting side, and the tightening shaft is connected to the ball screw, so that the ball screw drives the tightening shaft to move linearly along the guide rail slider under the drive of the servo motor.

[0011] Furthermore, a sliding connection is formed between the tightening shaft driven by the yielding cylinder and the ball screw, so that the tightening shaft can perform a linear telescopic motion in the hollow part of the base plate when driven by the yielding cylinder.

[0012] Compared with the prior art solutions, the utility model has the following beneficial effects:

[0013] 1. The yielding cylinder is connected to at least one of the tightening shafts to drive the tightening shaft to perform linear telescopic movement in the hollow part of the base plate; when five-axis tightening is required, the yielding cylinder pushes one tightening shaft back to the installation side of the base plate to prevent the tightening shaft from affecting the nut / stud installation work of the other five shafts; when six-axis tightening is required, the yielding cylinder pushes the tightening shaft to extend to the working side of the base plate to install the nut / stud together with the other five shafts.

[0014] 2. The bottom plate is also fixedly mounted with an angular dividing line changing cylinder which is transmission-connected to the four driving devices on the annular guide rail; the angular dividing line changing cylinder can drive the four driving devices, and then drive the four tightening shafts to change to the quintile angular dividing line or the sextile angular dividing line when needed.

[0015] 3. The driving device includes a servo motor, a reducer, a guide rail slider, and a ball screw; the ball screw drives the six axes to change the pitch circle, so as to install tires with different installation sizes, that is, different pitch circles.

[0016] 4. The two ends of the working side of the base plate are slidably connected with clamping claws, and the working side of the base plate is also fixedly installed with a clamping cylinder, which drives the clamping claws; when the nut / stud is installed, the clamping cylinder is retracted to drive the two clamping claws to move closer to the middle, and the tire in the middle of the clamping claws is clamped and positioned, thereby achieving higher tightening efficiency and equipment stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the front structure of the utility model

[0018] Figure 2 The overall structure diagram of the utility model is as follows:

[0019] Figure 3 This is a side structural diagram of the utility model

[0020] Figure 4 This is a schematic diagram of the inclined structure of the utility model

[0021] In the figure, 1, servo motor, 2, reducer, 3, guide rail slider, 4, ball screw, 5, give way cylinder, 6, angular dividing line changing cylinder a, 7, angular dividing line changing cylinder b, 8, circular guide, 9, base plate, 10, clamping claw, 11, clamping cylinder, 12, tightening shaft No. 1, 13, tightening shaft No. 2, 14, tightening shaft No. 3, 15, tightening shaft No. 4, 16, tightening shaft No. 5, 17, tightening shaft No. 6. DETAILED DESCRIPTION

[0022] The present invention is described in detail below through specific embodiments, but the protection scope of the present invention is not limited thereto.

[0023] Example 1

[0024] The present embodiment provides a tire installation robot with five or six axes automatic conversion, including a servo motor 1, a reducer 2, a guide rail slider 3, a ball screw 4, a yielding cylinder 5, an angular dividing line changing cylinder a6, an angular dividing line changing cylinder b7, an annular guide rail 8, a base plate 9, a clamping claw 10, a clamping cylinder 11, a tightening shaft No. 1 12, a tightening shaft No. 2 13, a tightening shaft No. 3 14, a tightening shaft No. 4 15, a tightening shaft No. 5 16, and a tightening shaft No. 6 17.

[0025] like Figure 1 As shown, tightening shaft No. 12, tightening shaft No. 2 13, tightening shaft No. 3 14, tightening shaft No. 4 15, tightening shaft No. 5 16, and tightening shaft No. 6 17 are arranged in a ring in the hollow part of the annular bottom plate 9, wherein tightening shaft No. 2 13, tightening shaft No. 3 14, tightening shaft No. 5 16, and tightening shaft No. 6 17 can move circumferentially so that the tightening shaft can change on the quintile and the sextile, wherein each tightening shaft is correspondingly connected by a driving device, and tightening shaft No. 4 15 is connected by driving with the yield cylinder 5 so that tightening shaft No. 4 15 can be extended or retracted. Specifically, tightening shaft No. 12 is connected to driving device No. 1, tightening shaft No. 2 13 is connected to driving device No. 2, tightening shaft No. 3 14 is connected to driving device No. 3, tightening shaft No. 4 15 is connected to driving device No. 4, tightening shaft No. 5 16 is connected to driving device No. 5, and tightening shaft No. 6 17 is connected to driving device No. 6. The driving device No. 2, driving device No. 3, driving device No. 5, and driving device No. 6 are slidably connected to the annular guide rail 8, and the annular guide rail 8 is fixedly installed on the installation side of the bottom plate 9. The driving device No. 1 and driving device No. 4 are fixedly installed on the installation side of the bottom plate 9 and are arranged opposite to each other. The driving device is used to drive each tightening shaft to move linearly toward the center of the annular ring to complete the change of the pitch circle, so as to install tires with different installation sizes, that is, different pitch circles.

[0026] The angular dividing line changing cylinder includes an angular dividing line changing cylinder a6 which is independently arranged and located on the installation side of the base plate 9 and an angular dividing line changing cylinder b7 which is located on the working side of the base plate 9. The angular dividing line changing cylinder a6 drives driving device No. 2 and driving device No. 6 to move along the annular guide rail 8, and the angular dividing line changing cylinder b7 drives driving device No. 3 and driving device No. 5 to move along the annular guide rail 8.

[0027] like Figure 2 As shown, the driving device includes a servo motor 1, a reducer 2, a guide rail slider 3, and a ball screw 4. The servo motor 1 is connected to the reducer 2, and the reducer 2 is connected to the ball screw 4 in a transmission manner. The guide rail slider 3 is installed on the installation side of the base plate 9, and the tightening shaft is connected to the ball screw 4, so that the ball screw 4 drives the tightening shaft to move linearly along the guide rail slider 3 under the drive of the servo motor 1. When the tightening shaft needs to be switched to a different pitch circle, the servo motor 1, the reducer 2, the guide rail slider 3, and the ball screw 4 operate to move the tightening shaft to the circumference of the pitch circle that meets the requirements. In particular, the tightening shaft No. 4 15 and its corresponding ball screw 4 are slidably connected so that the tightening shaft No. 4 15 can perform a linear telescopic action in the hollow part of the base plate 9 when driven by the yield cylinder 5.

[0028] like Figure 3As shown, opposite linear guide rails are provided at both ends of the base plate 9, whose sliders are connected to the clamping jaws 10, and the clamping cylinders 11 on the base plate 9 are connected to the clamping jaws 10; when working, the clamping cylinders 11 retract, and the two clamping jaws 10 move toward the middle to clamp the tire in the middle in place, thereby improving the tightening efficiency and equipment stability.

[0029] like Figure 3 As shown, the base plate 9 is fixedly connected with the angular dividing line changing cylinder a6 and the angular dividing line changing cylinder b7. When the tightening shaft needs to be switched to different equally divided circles, the angular dividing line changing cylinder a6 and the angular dividing line changing cylinder b7 push the four driving devices on the annular guide rail 8 by contracting or extending, thereby pushing the four tightening shafts to change their angles, so that the tightening shafts present different equally divided circles.

[0030] When it is necessary to tighten the five-axle tire, the yield cylinder 5 drives the tightening shaft No. 4 15 to retract toward the installation side of the base plate 9, the angular dividing line changing cylinder a6 drives the driving device No. 2 and the driving device No. 6 to rotate to the quintile, and the angular dividing line changing cylinder b7 drives the driving device No. 3 and the driving device No. 5 to rotate to the quintile, so that the tightening shaft No. 1 12, the tightening shaft No. 2 13, the tightening shaft No. 3 14, the tightening shaft No. 5 16, and the tightening shaft No. 6 17 are arranged in five equal parts. Furthermore, according to the different pitch circles of the tire, driving device No. 1 drives tightening shaft No. 12 to move forward or backward toward the annular center, driving device No. 2 drives tightening shaft No. 2 13 to move forward or backward toward the annular center, driving device No. 3 drives tightening shaft No. 3 14 to move forward or backward toward the annular center, driving device No. 5 drives tightening shaft No. 5 16 to move forward or backward toward the annular center, and driving device No. 6 drives tightening shaft No. 6 17 to move forward or backward toward the annular center, so that tightening shaft No. 12, tightening shaft No. 2 13, tightening shaft No. 3 14, tightening shaft No. 5 16, and tightening shaft No. 6 17 are located on different pitch circles.

[0031] When it is necessary to tighten the six axes, the yield cylinder 5 drives the tightening shaft No. 4 15 to extend to the working side of the base plate 9, the angular dividing line changing cylinder a6 drives the driving device No. 2 and the driving device No. 6 to rotate to the sixth dividing line, and the angular dividing line changing cylinder b7 drives the driving device No. 3 and the driving device No. 5 to rotate to the sixth dividing line, so that the tightening shaft No. 12, tightening shaft No. 2 13, tightening shaft No. 3 14, tightening shaft No. 4 15, tightening shaft No. 5 16, and tightening shaft No. 6 17 are arranged in six equal parts. Furthermore, according to the different pitch circles of the tire, driving device No. 1 drives tightening shaft No. 12 to move forward or backward toward the annular center, driving device No. 2 drives tightening shaft No. 2 13 to move forward or backward toward the annular center, driving device No. 3 drives tightening shaft No. 3 14 to move forward or backward toward the annular center, driving device No. 4 drives tightening shaft No. 4 15 to move forward or backward toward the annular center, driving device No. 5 drives tightening shaft No. 5 16 to move forward or backward toward the annular center, and driving device No. 6 drives tightening shaft No. 6 17 to move forward or backward toward the annular center, so that tightening shaft No. 12, tightening shaft No. 2 13, tightening shaft No. 3 14, tightening shaft No. 4 15, tightening shaft No. 5 16, and tightening shaft No. 6 17 are located on different pitch circles.

[0032] The above-mentioned embodiments are only preferred embodiments of the present invention, but not all feasible embodiments of the present invention. For those skilled in the art, any obvious changes made to the present invention without departing from the principle and spirit of the present invention should be considered to be included in the scope of protection of the claims of the present invention.

Claims

1. A tire installation robot with five or six axes automatically changing, characterized in that: The invention comprises a base plate (9), wherein the middle of the base plate (9) is hollow, and the two side surfaces thereof serve as the installation side and the working side respectively; six tightening shafts arranged in a ring are penetrated through the hollow part of the base plate (9); an annular guide rail (8) and two driving devices arranged opposite to each other are fixedly installed on the installation side of the base plate (9); four driving devices are slidably connected to the annular guide rail (8); each driving device is correspondingly connected to a tightening shaft for driving each tightening shaft to move linearly toward the center of the ring; a yielding cylinder (5) is also fixedly installed on the installation side of the base plate (9), and the yielding cylinder (5) is connected to at least one of the tightening shafts for driving the tightening shaft to perform a linear telescopic movement in the hollow part of the base plate (9); an angular line variation cylinder connected to the four driving devices on the annular guide rail (8) is also fixedly installed on the base plate (9) for controlling the four driving devices to slide circumferentially along the annular guide rail (8).

2. The tire installation robot with five or six axes automatic conversion according to claim 1, characterized in that: The angular line changing cylinder comprises an angular line changing cylinder a (6) which is independently arranged on the installation side of the base plate (9) and an angular line changing cylinder b (7) which is arranged on the working side of the base plate (9). The angular line changing cylinder a (6) and the angular line changing cylinder b (7) are respectively connected to drive two driving devices to slide along the annular guide rail (8).

3. The tire installation robot with five or six axes automatic conversion according to claim 1, characterized in that: Clamping claws (10) are slidably connected to the two ends of the working side of the base plate (9), and a clamping cylinder (11) is fixedly installed on the working side of the base plate (9). The clamping cylinder (11) is transmission-connected to the clamping claws (10) to clamp and position the tire.

4. The tire installation robot with five or six axes automatic conversion according to claim 1, characterized in that: The driving device comprises a servo motor (1), a reducer (2), a guide rail slider (3), and a ball screw (4); the servo motor (1) is connected to the reducer (2); the reducer (2) is transmission-connected to the ball screw (4); the guide rail slider (3) is mounted on the mounting side of the base plate (9); the tightening shaft is connected to the ball screw (4) so ​​that the ball screw (4) drives the tightening shaft to move linearly along the guide rail slider (3) under the drive of the servo motor (1).

5. The tire installation robot with five or six axes automatic conversion according to claim 4 is characterized in that: The tightening shaft driven by the yielding cylinder (5) is slidably connected to the ball screw (4) so ​​that the tightening shaft can perform a linear telescopic movement in the hollow part of the bottom plate (9) when driven by the yielding cylinder (5).

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