Tire grabbing and clamping manipulator and intelligent tire grabbing and clamping moving device

Abstract

The utility model provides a tire grabbing and clamping manipulator and an intelligent tire grabbing and clamping moving device, all external supports of a base are arranged on the outer side of a center hole in a circumferential array mode and extend in the radial direction, and each external support is provided with a first inner hinge hole and a first outer hinge hole in the radial direction at intervals; the movable guide seat is movably arranged in the center of the bottom of the base, a plurality of radial guide rails are arranged on the movable guide seat in the circumferential direction in an array mode, and the guide grooves and external supports of the base are arranged in a one-to-one up-and-down correspondence mode. The multiple clamping jaws are movably arranged below the external supports correspondingly, and each clamping jaw is provided with a second inner hinge hole and a second outer hinge hole in the radial direction at intervals. The connecting rod mechanism is arranged among the base, the movable guide seat and the clamping claw; the air cylinder is connected between the base and the movable guide seat and is configured to drive the movable guide seat to axially move along the center hole of the base and drive the clamping claws to synchronously move outwards in the radial direction through the connecting rod mechanism so as to clamp the inner hole of the tire.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile parts production and transportation automation, and in particular provides a tire clamping manipulator and an intelligent tire clamping moving device. Background Art

[0002] In the process of automobile parts production and transportation, through the study of automobile parts production and automobile assembly companies, it was found that there are many tasks that require the handling of tires. Whether it is the repair of cars and machines or the assembly of new products, the handling of tires is inevitable. For some medium-sized tires, the tires are large and heavy, and it takes the joint efforts of multiple people to complete the handling work. There are problems such as high labor intensity and low production efficiency. Therefore, how to solve the labor waste in automobile production and reasonably solve the problem of tire handling are tasks that need to be seriously addressed. During the production internship arranged by the school, it was found that the tire handling robot can significantly improve the handling efficiency of tires and reduce labor costs. At the same time, it also has a significant effect on improving personal safety, reducing labor intensity, improving the working environment, and saving raw material consumption.

[0003] Although there are movable handling robots on the market, their structures are relatively simple and it is difficult to complete flexible, multi-directional and multi-angle handling and installation work. Therefore, we want to design a robot that combines the advantages of the robots currently on the market, which can move freely and achieve high-degree-of-freedom and multi-directional gripping. Utility Model Content

[0004] Based on this, the utility model provides a tire clamping manipulator and an intelligent tire clamping moving device, which can move freely and achieve high-freedom multi-directional clamping, completing flexible, multi-faceted and multi-angle handling and installation work.

[0005] In order to achieve the above-mentioned objectives, in the first aspect, the utility model provides a tire gripping robot, wherein the base is provided with a center hole and a plurality of external supports, each external support is arranged in a circumferential array outside the center hole and extends radially, and each external support is provided with a first inner hinge hole and a first outer hinge hole at radial intervals; the movable guide seat is movably arranged at the bottom center of the base, and the movable guide seat is arranged in a circumferential array with a plurality of radial guide rails, and each guide groove is arranged one by one in upper and lower correspondence with the external support of the base; the clamping claws include a plurality of and are movably arranged under each external support, and each clamping claw is provided with a second inner hinge hole and a second outer hinge hole at radial intervals; a connecting rod mechanism is provided between the base, the movable guide seat and the clamping claw; the cylinder is connected between the base and the movable guide seat, and is configured to drive the movable guide seat to move axially along the center hole of the base, and drive each clamping claw to move radially outward synchronously through the connecting rod mechanism to clamp the inner hole of the tire.

[0006] Furthermore, the connecting rod mechanism includes an L-shaped connecting rod and a straight connecting rod, a first hinge axis hinged to the first inner hinge hole is provided at the corner of the L-shaped connecting rod, a second hinge axis hinged to the second inner hinge hole is provided at the lower end, and a third hinge axis slidingly engaged with the guide groove of the movable guide seat is provided at the upper end; the straight connecting rod is hinged between the first outer hinge hole and the second outer hinge hole, and the connecting lines of the first inner hinge hole, the second inner hinge hole, the first outer hinge hole and the second outer hinge hole form a parallelogram.

[0007] Furthermore, a clamping plate is provided on the outside of the clamping claw, and the upper surface of the clamping plate is flush with the outside of the clamping claw.

[0008] Furthermore, an upwardly extending vertical support structure is provided on the outer side of the clamping claw, and the clamping plate is connected to the top of the vertical support structure.

[0009] Furthermore, the cylinder body of the cylinder is connected to the base, and the piston rod extends downward from the center hole and is connected to the center of the movable guide seat.

[0010] In order to achieve the above-mentioned purpose, in the second aspect, the utility model provides an intelligent tire gripping and moving device, the electric rotary platform includes a base, a turntable and a rotary drive motor, the turntable is arranged on the base and the central rotating shaft is arranged vertically, the rotary drive motor is arranged on the base and the output end is connected to the turntable; the column is connected to the center position of the turntable; the cantilever beam is connected to the top of the column and the front end extends outward; the tire gripping manipulator is connected to the front end of the cantilever beam; the gripping movement control unit is controlled and connected to the electric rotary platform and the tire gripping manipulator.

[0011] Furthermore, the column includes multiple column sections connected by a vertical telescopic adjustment mechanism, the tire gripping robot is provided with a height position sensor, the gripping movement control unit is controlled and connected to the vertical telescopic adjustment mechanism, and is configured to receive and control the column height adjustment according to the signal of the height position sensor.

[0012] Furthermore, the cantilever beam is provided with a plurality of arm sections connected by a horizontal telescopic adjustment mechanism, the tire gripping robot is provided with a plane position sensor, and the gripping movement control unit is connected to the horizontal telescopic adjustment control, and is configured to receive and control the telescopic extension of the cantilever beam according to the signal of the plane position sensor.

[0013] The tire clamping manipulator and intelligent tire clamping mobile device provided by the utility model have the following beneficial effects:

[0014] A movable guide seat is located at the bottom of the base, and clamping claws are connected to the movable guide seat via a connecting rod mechanism on the outer periphery of the base. The cylinder drives the movable guide seat to move, and the connecting rod mechanism drives the clamping claws to move radially outward to clamp the inner hole of the tire. This allows for both free movement and high-degree-of-freedom multi-directional gripping, allowing for flexible, multi-directional and multi-angle handling and installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the provided intelligent tire gripping manipulator device;

[0016] Figure 2 is a front view of the provided intelligent tire gripping manipulator device;

[0017] Figure 3 This is a bottom view of the base;

[0018] Figure 4 It is a structural diagram of the movable guide seat;

[0019] Figure 5 It is a structural diagram of the L-shaped connecting rod;

[0020] Figure 6 It is a structural diagram of the supporting claw;

[0021] Figure 7 This is the control system schematic diagram of the intelligent tire gripping robot device.

[0022] Description of the accompanying drawings:

[0023] 1-tire gripping manipulator, 11-base, 111-external support, 12-movable guide seat, 121-radial guide rail, 13-L-shaped connecting rod, 14-straight connecting rod, 15-clamping claw, 151-clamping plate, 16-cylinder;

[0024] 2-Electric turntable;

[0025] 3- pillar;

[0026] 4-Cantilever beam. DETAILED DESCRIPTION

[0027] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, its application, or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make this disclosure thorough and complete and to fully convey the scope of this disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, and the composition of materials described in these embodiments are merely exemplary and not intended to be limiting.

[0028] Example 1:

[0029] like Figures 1 to 7 As shown, a tire gripping manipulator provided by the present invention includes a base 11, which is provided with a central hole and a plurality of external supports 111, each of which is arranged in a circumferential array outside the central hole and extends radially, and each of the external supports 111 is provided with a first inner hinge hole and a first outer hinge hole at intervals along the radial direction; a movable guide seat 12 is movably provided at the bottom center of the base 11, and a plurality of radial guide rails 121 are arranged in a circumferential array on the movable guide seat 12, and each guide groove is arranged one by one in upper and lower correspondence with the external supports 111 of the base 11; a clamping claw 15 includes a plurality of movably provided claws 15, each of which is provided with ... Located below each external support 111, each clamping claw 15 is provided with a second inner hinge hole and a second outer hinge hole at intervals along the radial direction; a connecting rod mechanism is provided between the base 11, the movable guide seat 12 and the clamping claw; a cylinder 16 is connected between the base 11 and the movable guide seat 12, the cylinder body of the cylinder 16 is connected to the base 11, the piston rod extends downward from the center hole and is connected to the center of the movable guide seat 12, and is configured to drive the movable guide seat 12 to move axially along the center hole of the base 11, and drive each clamping claw 15 to move radially outward synchronously through the connecting rod mechanism to clamp the inner hole of the tire.

[0030] In some embodiments, the connecting rod mechanism includes an L-shaped connecting rod 13 and a straight connecting rod 14, and a first hinge axis hinged to the first inner hinge hole is provided at the corner of the L-shaped connecting rod 13, a second hinge axis hinged to the second inner hinge hole is provided at the lower end, and a third hinge axis slidingly engaged with the guide groove of the movable guide seat 12 is provided at the upper end; the straight connecting rod 14 is hinged between the first outer hinge hole and the second outer hinge hole, and the connecting lines of the first inner hinge hole, the second inner hinge hole, the first outer hinge hole, and the second outer hinge hole constitute a parallelogram.

[0031] During implementation, a clamping plate 151 is provided on the outside of the clamping claw 15, and the upper surface of the clamping plate 151 is flush with the outside of the clamping claw 15. An upwardly extending vertical support structure is provided on the outside of the clamping claw 15, and the clamping plate 151 is connected to the top of the vertical support structure.

[0032] Example 2:

[0033] The utility model provides an intelligent tire gripping and moving device, including the tire gripping manipulator 1, and also including an electric return platform 2, including a base, a turntable and a rotary drive motor, the turntable is arranged on the base and the central rotation axis is arranged vertically, the rotary drive motor is arranged on the base and the output end is connected to the turntable; the column 3 is connected to the center position of the turntable; the cantilever beam 4 is connected to the top of the column 3 and the front end extends outward; the tire gripping manipulator 1 is connected to the front end of the cantilever beam 4; the gripping movement control unit is controlled and connected to the electric rotary platform and the tire gripping manipulator 1.

[0034] During implementation, the gripper movement control unit is based on a PLC-based tire grabbing and movement system. This system enables tire handling and movement within the assembly line. The PLC controls the cylinders to open and grip the tire. The electric turntable then rotates the entire device to the designated position. The PLC then controls the cylinders to retract and release the tire, releasing it.

[0035] During implementation, the column 3 includes multiple column sections connected by a vertical telescopic adjustment mechanism, a height position sensor is provided on the tire gripping robot 1, and the gripping movement control unit is controlled and connected to the vertical telescopic adjustment mechanism, and is configured to receive and control the height adjustment of the column 3 according to the signal of the height position sensor.

[0036] During implementation, the cantilever beam 4 is provided with a plurality of arm sections connected by a horizontal telescopic adjustment mechanism, the tire gripping robot 1 is provided with a plane position sensor, and the gripping movement control unit is connected to the horizontal telescopic adjustment control, and is configured to receive and control the telescopic extension of the cantilever beam 4 according to the signal of the plane position sensor.

[0037] The pneumatic cylinder 16 is connected between the base 11 and the movable guide seat 12. It is used in conjunction with a two-position, five-way solenoid valve. The pneumatic cylinder's principle and structure are simple, making it easy to install and maintain, and requiring minimal user experience. Electric cylinders, on the other hand, require certain electrical knowledge, as they are prone to damage due to misoperation. They also offer high output force. While the output force of a pneumatic cylinder is proportional to the square of the cylinder diameter, the output force of an electric cylinder is related to three factors. Pneumatic cylinders offer a significant advantage in terms of output force, and they are highly adaptable.

[0038] In terms of control, the system primarily uses a PLC for compilation and simulation, with left and right limit switches used for restriction and control. Infrared sensors control the operation of the drive unit. When the claw is located below the tire, a two-position, five-way solenoid valve activates the cylinder, which in turn drives the claw to grip the tire. The stepper motor then moves the tire to the desired position, releasing the object and completing the task.

[0039] PLC has high reliability and strong anti-interference ability. High reliability of PLC is the key performance of electrical control equipment. Because PLC adopts modern large-scale integrated circuit technology, it has high reliability, greatly reduces failures, and is easy to operate.

[0040] Based on the tire clamping manipulator and intelligent tire clamping mobile device provided by the above embodiments, a cylinder drives the movable guide seat to move, which, through a connecting rod mechanism, drives the clamping claws to move radially outward to clamp the inner hole of the tire. This allows for both free movement and high-degree-of-freedom, multi-directional clamping, enabling flexible, multi-directional, and multi-angle handling and installation.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A tire gripping manipulator, characterized in that: include: A base (11) is provided with a central hole and a plurality of external supports, each external support being arranged in a circumferential array outside the central hole and extending radially, each external support being provided with a first inner hinge hole and a first outer hinge hole at intervals along the radial direction; A movable guide seat (12) is movably arranged at the bottom center of the base (11), and a plurality of radial guide rails (121) are arranged in a circumferential array on the movable guide seat (12), and each guide groove is arranged in a one-to-one correspondence with an external support (111) of the base (11); A plurality of clamping claws (15) are movably arranged below each external support (111), and each clamping claw (15) is provided with a second inner hinge hole and a second outer hinge hole at intervals along the radial direction; A connecting rod mechanism is provided between the base (11), the movable guide seat (12) and the clamping claw; and The cylinder (16) is connected between the base (11) and the movable guide seat (12), and is configured to drive the movable guide seat (12) to move axially along the center hole of the base (11), and drive each clamping claw (15) to move radially outward synchronously through a connecting rod mechanism to clamp the inner hole of the tire.

2. The tire gripping robot according to claim 1, characterized in that: The connecting rod mechanism includes an L-shaped connecting rod (13) and a straight connecting rod (14), wherein a first hinge shaft hinged to a first inner hinge hole is provided at a corner of the L-shaped connecting rod (13), a second hinge shaft hinged to a second inner hinge hole is provided at the lower end, and a third hinge shaft slidingly engaged with a guide groove of a movable guide seat (12) is provided at the upper end; the straight connecting rod (14) is hinged between the first outer hinge hole and the second outer hinge hole, and the connecting lines of the first inner hinge hole, the second inner hinge hole, the first outer hinge hole, and the second outer hinge hole form a parallelogram.

3. The tire gripping robot according to claim 1, characterized in that: A clamping plate (151) is provided on the outside of the clamping claw (15), and the upper surface of the clamping plate (151) is flush with the outside.

4. The tire gripping robot according to claim 3, characterized in that: An upwardly extending vertical support structure is provided on the outer side of the clamping claw (15), and the clamping plate (151) is connected to the top of the vertical support structure.

5. The tire gripping robot according to claim 1, characterized in that: The cylinder body of the cylinder (16) is connected to the base (11), and the piston rod extends downward from the center hole and is connected to the center of the movable guide seat (12).

6. An intelligent tire clamping mobile device, characterized in that: The tire gripping robot (1) comprises any one of claims 1 to 5, further comprising: An electric rotary platform (2) comprises a pedestal, a turntable and a rotary drive motor, wherein the turntable is arranged on the pedestal and the central rotation axis is arranged vertically, and the rotary drive motor is arranged on the pedestal and the output end is connected to the turntable; A column (3) connected to the center of the turntable; A cantilever beam (4) is connected to the top of the column (3) and has a front end extending outward; the tire gripping manipulator (1) is connected to the front end of the cantilever beam (4); and The gripping movement control unit is control-connected to the electric rotary platform (2) and the tire gripping manipulator (1).

7. The intelligent tire clamp moving device according to claim 6, characterized in that: The column (3) comprises a plurality of column sections connected by a vertical telescopic adjustment mechanism, a height position sensor is provided on the tire gripping manipulator (1), and the gripping movement control unit is control-connected to the vertical telescopic adjustment mechanism and is configured to receive and control the height adjustment of the column (3) according to a signal from the height position sensor.

8. The intelligent tire clamp moving device according to claim 6, characterized in that: The cantilever beam (4) is provided with a plurality of arm sections connected by a horizontal telescopic adjustment mechanism, the tire gripping manipulator (1) is provided with a plane position sensor, and the gripping movement control unit is connected to the horizontal telescopic adjustment mechanism and is configured to receive and control the telescopic movement of the cantilever beam (4) according to a signal from the plane position sensor.

Images