Manipulator for tire loading and unloading

Abstract

The utility model discloses a manipulator for loading and unloading tires. The manipulator comprises a rotating arm mechanism, a supporting disc, five groups of gear assemblies, six groups of sliding mechanisms and a transmission mechanism, the two meshed gears in each gear assembly form a pair, the two sides of each pair of gears are meshed with the racks, the claw pieces can be opened or closed in the radial direction at the same time through the transmission mode, and mechanical movement is stable when the mechanical arm acts. An adjusting rod of the transmission mechanism is connected with an electric cylinder and a knuckle bearing, the adjusting rod can transmit the thrust of the electric cylinder to the mechanical arm to move, inner holes in the two ends of the adjusting rod are reverse threads, and when the adjusting rod is moved to rotate, the adjusting rod can adjust the initial opening degree of a claw piece. The claw pieces are fixed on the movable sliding block, the contact surface of the movable sliding block and the static sliding block is large, the claw pieces move stably, the diagonal claw pieces are provided with the deviation rectifying mechanism, the manipulator completes hoisting, namely, the claw pieces grab objects, a deviation rectifying device air cylinder stretches out to push the objects to steps at the bottom ends of the claw pieces, and therefore the objects are horizontal.

Description

Technical Field

[0001] The utility model belongs to the technical field of loading and unloading manipulators, in particular to a manipulator for loading and unloading tires. Background Art

[0002] In the tire manufacturing industry, transporting tires across production lines, loading green tires into production equipment, and removing finished tires from equipment all rely on robotic arms. As a moving component that directly contacts the tire, the stable and reliable operation of the robotic arm directly impacts tire quality. This requires the robotic arm's claws to open appropriately when removing the tire and to ensure a level position during lifting. Furthermore, current robotic arms used for tire loading and unloading experience high impact forces, which impact their stability and lifespan, necessitating further improvements. Utility Model Content

[0003] The utility model provides a manipulator for tire loading and unloading, which is used to achieve smooth movement, stable use, gentle tire lifting, and no damage to the tire.

[0004] In order to solve the above problems, the technical solutions provided by the present invention are as follows:

[0005] The embodiment of the utility model provides a robot for loading and unloading tires, comprising a rotating arm mechanism (400), a support plate (300) being mounted on the end of the rotating arm mechanism (400), a circular hole being provided in the middle of the support plate (300), five groups of gear assemblies (100) and six groups of sliding mechanisms (200) being mounted on the support plate (300), and two groups of sliding mechanisms (200) being mounted on both sides of each group of gear assemblies (100);

[0006] Each set of gear components (100) includes two gears (101) meshing with each other, and each gear (101) is mounted on the support plate (300) via a pin (105); each set of sliding mechanisms (200) includes a rack (201), a claw (203), a movable slider (204) and a static slider (205), the static slider (205) being fixed on the support plate (300), the movable slider (204) sliding along the static slider (205), and the rack (201) being mounted via a countersunk screw (202). On the movable slider (204), the rack (201) and the two gears (101) on both sides thereof mesh with each other to transmit power; the claws (203) and the movable slider (204) are fastened with screws; wherein, two claws at opposite corners of the six claws (203) in the six groups of sliding mechanisms (200) are installed with a correction device (206); when the six claws (203) are performing hoisting, the cylinder of the correction device (206) extends, forcibly pushing the hoisted object downward to be parallel to the support plate (300);

[0007] The arm mechanism (400) is further provided with a transmission mechanism (600), which is a power source for opening and closing the manipulator. The transmission mechanism (600) comprises an electric cylinder (601), an adjusting rod (602) connected to the electric cylinder (601), and a joint bearing (603) connected to the adjusting rod (602). The joint bearing (603) is connected to a movable slider (204) of a group of sliding mechanisms (200). The electric cylinder (601) is used to provide thrust. When the electric cylinder (601) is extended or retracted, it pushes the rack (201) on the movable slider (204) of the group of sliding mechanisms (200) to move. The rack (201) pushes the adjacent gear (101) to rotate, thereby realizing that the remaining five groups of sliding mechanisms (200) are driven by the adjacent gear groups and slide synchronously.

[0008] According to an optional embodiment of the present invention, the gear (101) is fastened to the pin (105) via a gear gland (102), a screw (103) and an elastic pad (104).

[0009] According to an optional embodiment of the present invention, the initial opening and closing degrees of the claw piece (203) are adjusted by the adjusting rod (602), and one end of the adjusting rod (602) is a right-handed thread and the other end is a left-handed thread.

[0010] According to an optional embodiment of the present invention, the junction box (500) is installed on the rotating arm mechanism (400), and the circuits, air pipes, etc. on the manipulator are connected to the equipment through the junction box (500). The rotating arm mechanism (400) is driven by a power actuator provided by the equipment, and the rotating arm mechanism (400) drives the entire manipulator to move and rotate around the bearing (700).

[0011] Compared with the prior art, the embodiment of the utility model provides a robot for loading and unloading tires, which has the following beneficial effects: the two mutually meshing gears in each gear assembly form a pair, and both sides of each pair of gears are meshed with the rack. Using this transmission method can make the claws radially open or close at the same time, and the mechanical movement is smooth when the robot is in operation; the adjusting rod of the transmission mechanism connects the electric cylinder and the joint bearing. In addition to transmitting the thrust of the electric cylinder to the robot movement, the adjusting rod has the ability to transmit the thrust of the electric cylinder to the robot movement. The inner holes at both ends of the adjusting rod are counter-rotating threads. When the adjusting rod is moved and rotated, the adjusting rod can adjust the initial opening degree of the claw; the claw is fixed on the moving slider, and the contact area between the moving slider and the static slider is large. The claw moves smoothly, and the diagonal claw is installed with a correction mechanism. When the robot completes the lifting, that is, the claw grabs the object, and the cylinder of the correction device extends to push the object to the step at the bottom end of the claw, thereby making the object level. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments or prior art, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. 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 any creative work.

[0013] Figure 1 A top view of a robot for loading and unloading tires provided in an embodiment of the present application.

[0014] Figure 2 A front view of a robot for loading and unloading tires provided in an embodiment of the present application.

[0015] Figure 3 for Figure 2 Enlarged schematic diagram.

[0016] Figure 4 A diagram showing the working principle of a robot arm for tire loading and unloading provided in an embodiment of the present application when closed (the opposite of closed when open).

[0017] Figure 5 A diagram showing the working principle of a deviation-correcting device of a robot for tire loading and unloading provided in an embodiment of the present application when extended. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0019] like Figure 1 、 Figure 2 and Figure 3 As shown, an embodiment of the present invention provides a robot for loading and unloading tires, including a junction box 500, which is installed on a rotating arm mechanism 400. The lines, air pipes, etc. on the robot are connected to the equipment through the junction box 500. The rotating arm mechanism 400 is driven by a power actuator provided by the equipment, and the rotating arm mechanism 400 drives the entire robot to move and rotate around a bearing 700.

[0020] A support plate 300 is mounted on the end of the arm mechanism 400. The support plate 300 has a circular hole in the center. Five gear assemblies 100 and six sliding mechanisms 200 are mounted on the support plate 300, with two sliding mechanisms 200 mounted on either side of each gear assembly 100. Each gear assembly 100 includes two meshing gears 101. Each gear 101 is mounted on the support plate 300 via a pin 105. The gears 101 are fastened to the pins 105 using a gear gland 102, screws 103, and elastic pads 104.

[0021] Six sets of sliding mechanisms 200 are evenly distributed on the manipulator and fixed to the upper surface of the support plate 300, with adjacent sliding mechanisms forming a 60° angle. Each set of sliding mechanisms 200 includes a rack 201, claws 203, a movable slider 204, and a static slider 205. The static slider 205 is fixed to the support plate 300, and the movable slider 204 slides along the static slider 205. The rack 201 is mounted on the movable slider 204 via countersunk screws 202. The rack 201 engages with the two gears 101 on either side to transmit power. The claws 203 and the movable slider 204 are fastened with screws. Among them, the six claws 203 in the six sets of sliding mechanisms 200 are installed on the two diagonal claws. When the manipulator is performing loading and lifting, the cylinder of the correcting device 206 extends, forcibly pushing the hoisted object downward until it is parallel to the support plate 300. In this embodiment, the six groups of sliding mechanisms 200 are evenly distributed, the movable slider 204 and the static slider 205 are in contact with each other and slide against each other, and each group of sliding mechanisms 200 slides synchronously when subjected to force.

[0022] A transmission mechanism 600 is also installed on the rotating arm mechanism 400. The transmission mechanism 600 is the power source for opening and closing the manipulator; the transmission mechanism 600 includes an electric cylinder 601, an adjusting rod 602 connected to the electric cylinder 601, and a joint bearing 603 connected to the adjusting rod 602. The initial opening and closing degrees of the manipulator are adjusted by the adjusting rod 602. One end of the adjusting rod 602 is a right-handed thread, and the other end is a left-handed thread.

[0023] The joint bearing 603 is connected to the movable slider 204 of one sliding mechanism 200. The electric cylinder 601 provides thrust. When the electric cylinder 601 extends or contracts, it pushes the rack 201 on the movable slider 204 of this sliding mechanism 200. This rack 201 then rotates the adjacent gear 101, thereby achieving synchronous sliding of the remaining five sliding mechanisms 200, driven by adjacent gear sets. The manipulator also includes a control cabinet, which provides external device signals and compressed air to the manipulator and also feeds these signals back to the external devices.

[0024] In the above, the two mutually meshing gears in each gear assembly form a pair, and both sides of each pair of gears are meshed with the rack. Using this transmission method, the claws can be radially opened or closed at the same time, and the mechanical movement is smooth when the manipulator is in action. The adjusting rod connects the electric cylinder and the spherical bearing. In addition to transmitting the thrust of the electric cylinder to the manipulator movement, the inner holes at both ends of the adjusting rod are counter-rotating threads. When the adjusting rod is moved and rotated, the adjusting rod can adjust the initial opening degree of the claws. The claws are fixed on the moving slider. The contact area between the moving slider and the static slider is large, and the claws are stable when moving. The diagonal claws are equipped with a correction mechanism. When the manipulator completes the lifting, that is, the claws grab the object, and the cylinder of the correction device extends to push the object to the step at the bottom of the claws, thereby making the object level.

[0025] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, the working principle of a tire loading and unloading robot is as follows: the robot is installed in a vulcanizer as a component of the vulcanizer and is used for loading and unloading tires. The tire blank is transported to the position directly below the claw 203. The claw 203 begins to descend, the electric cylinder 601 extends, and the claw 203 closes until the claw 203 stops at the lower limit. The electric cylinder 601 retracts, and the claw 203 opens. The claw 203 rises to the upper limit. As the claw 203 rises, the correcting device 206 on the claw 203 begins to operate. The correcting device 206 extends and pushes the tire blank downward. The tire blank is adjusted to a horizontal position. Finally, the suspended tire blank is loaded into the vulcanizer for vulcanization. Furthermore, the opening degree of the claw 203, that is, the distance between the diagonal claws, is adjusted by the adjustment rod 602. The claw 203 operates smoothly and is not prone to jamming.

[0026] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims.

Claims

1. A robot for tire loading and unloading, characterized in that: The invention comprises a rotating arm mechanism (400), a support plate (300) is installed on the end of the rotating arm mechanism (400), a circular hole is provided in the middle of the support plate (300), and five groups of gear assemblies (100) and six groups of sliding mechanisms (200) are installed on the support plate (300), and two groups of sliding mechanisms (200) are installed on both sides of each group of gear assemblies (100); Each set of gear components (100) includes two gears (101) meshing with each other, and each gear (101) is mounted on the support plate (300) via a pin (105); each set of sliding mechanisms (200) includes a rack (201), a claw (203), a movable slider (204) and a static slider (205), the static slider (205) being fixed on the support plate (300), the movable slider (204) sliding along the static slider (205), and the rack (201) being mounted via a countersunk screw (202). On the movable slider (204), the rack (201) and the two gears (101) on both sides thereof mesh with each other to transmit power; the claws (203) and the movable slider (204) are fastened with screws; wherein, two claws at opposite corners of the six claws (203) in the six groups of sliding mechanisms (200) are installed with a correction device (206); when the six claws (203) are performing hoisting, the cylinder of the correction device (206) extends, forcibly pushing the hoisted object downward to be parallel to the support plate (300); The arm mechanism (400) is further provided with a transmission mechanism (600), which is a power source for opening and closing the manipulator. The transmission mechanism (600) comprises an electric cylinder (601), an adjusting rod (602) connected to the electric cylinder (601), and a joint bearing (603) connected to the adjusting rod (602). The joint bearing (603) is connected to a movable slider (204) of a group of sliding mechanisms (200). The electric cylinder (601) is used to provide thrust. When the electric cylinder (601) is extended or retracted, it pushes the rack (201) on the movable slider (204) of the group of sliding mechanisms (200) to move. The rack (201) pushes the adjacent gear (101) to rotate, thereby realizing that the remaining five groups of sliding mechanisms (200) are driven by the adjacent gear groups and slide synchronously.

2. A robot for tire loading and unloading according to claim 1, characterized in that: The gear (101) is fastened to the pin (105) via a gear cover (102), a screw (103) and an elastic pad (104).

3. A robot for tire loading and unloading according to claim 1, characterized in that: The initial opening and closing degrees of the claw piece (203) are adjusted by the adjusting rod (602), and one end of the adjusting rod (602) is a right-handed thread, and the other end is a left-handed thread.

4. A robot for tire loading and unloading according to claim 1, characterized in that: The invention comprises a junction box (500), wherein the junction box (500) is mounted on a rotating arm mechanism (400), and the circuits and air pipes on the manipulator are connected to the device through the junction box (500). The rotating arm mechanism (400) is driven by a power actuator provided by the device, and the rotating arm mechanism (400) drives the entire manipulator to move and rotate around a bearing (700).

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