Robot spraying device

Abstract

The utility model discloses a robot spraying device, which relates to the technical field of tires, and comprises a robot structure, a gripper structure, a tire pulling structure and a spraying structure, the gripper structure is arranged on the robot structure, the gripper structure is used for gripping a tire, and the spraying structure is used for spraying the tire. The tire pulling structure is used for clamping a tire and is matched with the robot structure and the gripper structure to pull out a collapsed part of the tire, and the spraying structure is used for spraying the tire. According to the robot spraying device, time is saved, efficiency is improved, accuracy is ensured, and danger caused by manpower is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to tire technical field especially relates to a kind of robot spraying device. BACKGROUND

[0002] When the prior art is carried out in tire spraying, the running of tire between each station is usually carried out manually, and using manual not only time-consuming and laborious, but also dangerous. UTILITY MODEL CONTENT

[0003] The utility model aims at providing a kind of robot spraying device to solve the problems existing in the prior art, save time, improve efficiency, ensure accuracy, avoid the dangerous nature caused by manual.

[0004] To achieve the above object, the utility model provides the following scheme:

[0005] The utility model provides a kind of robot spraying device, it includes: robot structure, gripper structure, tire pulling structure and spraying structure, the gripper structure is set on the robot structure, the gripper structure is used to grab tire, the tire pulling structure is used to be stuck with tire and the robot structure, the gripper structure cooperation realizes the pulling of tire collapse site, the spraying structure is used to spray to tire.

[0006] Preferably, the gripper structure includes linear drive structure, first connecting disc, second connecting disc and several grabbing assemblies, the first connecting disc is used to set in the end of the robot structure, the first connecting disc is connected with the fixed end or telescopic end of the linear drive structure, the second connecting disc is connected with the telescopic end or fixed end of the linear drive structure, the grabbing assembly is connected with the first connecting disc and the second connecting disc respectively, the linear drive structure drives the relative motion between the first connecting disc and the second connecting disc, realizes that the grabbing assembly grabs tire.

[0007] Preferably, each grabbing assembly includes first grabbing connecting rod, second grabbing connecting rod and grabbing gripper, one end of the first grabbing connecting rod is connected with the first connecting disc, the other end of the first grabbing connecting rod is hinged with one end of the grabbing gripper, one end of the second grabbing connecting rod is hinged with one end of the second connecting disc, the other end of the second grabbing connecting rod is hinged with the middle part of the grabbing gripper, the other end of the grabbing gripper is used to grab tire.

[0008] Preferably, the first connecting disc and the second connecting disc are coaxially arranged, and several grabbing assemblies are arranged around the axis of the telescopic end of the linear drive structure.

[0009] Preferably, the adjacent first grabbing links are connected through a support rod; the first connecting disc is provided with a guide rod, and the second connecting disc is in sliding connection with the guide rod.

[0010] Preferably, the tire pulling structure is arranged on a support, and the tire pulling structure comprises a rotary driving structure, a rotating disc and a plurality of tire pulling assemblies; the rotary driving structure is used for driving the rotating disc to rotate; each of the tire pulling assemblies is connected with the rotating disc; the rotary driving structure drives the rotating disc to rotate, so that the tire pulling assemblies are clamped on the tire.

[0011] Preferably, the tire pulling assembly comprises a first tire pulling link, a second tire pulling link, a sliding block and a tire pulling gripper; one end of the first tire pulling link is hingedly connected with the rotating disc; the other end of the first tire pulling link is hingedly connected with the middle part of the second tire pulling link; one end of the second tire pulling link is hingedly connected with the sliding block; the other end of the second tire pulling link is hingedly connected with the tire pulling gripper; the sliding block slides along a first sliding groove of the support; and the tire pulling gripper slides along a second sliding groove of the support.

[0012] Preferably, the adjacent first sliding grooves are vertically arranged, the adjacent second sliding grooves are vertically arranged, and the first sliding groove and the second sliding groove corresponding to the same tire pulling assembly are vertically arranged.

[0013] Preferably, the spraying structure is arranged in a spraying station; the spraying station comprises a spraying cavity; the spraying cavity is connected with a dust removal device; the spraying structure comprises a spray gun; the spray gun is located in the spraying cavity; the spray gun is used for being connected with a stirring tank; the stirring tank is used for containing and stirring spraying liquid; and a diaphragm pump is arranged on a pipeline between the stirring tank and the spray gun.

[0014] Preferably, the gripper cleaning structure comprises a plurality of brushes.

[0015] Compared with the prior art, the utility model discloses the following technical effects:

[0016] The utility model discloses the tire is grabbed through gripper structure, realizes the transfer of tire between each station and the lifting and rotation of tire through robot structure, realizes the pulling of tire collapse position through tire pulling structure and gripper structure, robot structure cooperation, realizes the spraying of tire through spraying structure. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0018] Figure 1 The robot spraying device of the present application is shown in the axial view.

[0019] Figure 2 The robot spraying device of the present application is shown in the plan view.

[0020] Figure 3 The robot structure and the gripper structure of the present application are shown in the axial view.

[0021] Figure 4 The gripper structure of the present application is shown in the axial view. Figure 1

[0022] Figure 5 The gripper structure of the present application is shown in the axial view. Figure 2

[0023] Figure 6 The tire pulling structure of the present application is shown in the axial view.

[0024] Figure 7 The tire pulling structure of the present application is shown in the bottom view.

[0025] Figure 8 The tire pulling structure of the present application is shown in the bottom view (without the rotary drive structure).

[0026] In the drawings: 100 - robot spraying device, 1 - robot structure, 2 - gripper structure, 3 - tire pulling structure, 4 - spraying structure, 5 - tire taking station, 6 - spraying station, 7 - tire placing station, 8 - linear drive structure, 9 - first connecting disc, 10 - second connecting disc, 11 - first grabbing connecting rod, 12 - second grabbing connecting rod, 13 - grabbing gripper, 14 - support rod, 15 - bracket, 16 - rotary drive structure, 17 - rotary table, 18 - first tire pulling connecting rod, 19 - second tire pulling connecting rod, 20 - sliding block, 21 - tire pulling gripper, 22 - first sliding groove, 23 - second sliding groove, 24 - stirring tank, 25 - gripper cleaning structure, 26 - brush, 27 - tire. DETAILED DESCRIPTION

[0027] ​​The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0028] The robot spraying device aims to solve the problems in the prior art, save time, improve efficiency, ensure accuracy, and avoid the danger caused by manual work.

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0030] As shown in Figures 1 to 8 The present embodiment provides a robot spraying device 100 for semi-steel tire blank conveying and spraying, which is installed in the middle link of an automatic tire blank conveying system and comprises a robot structure 1, a gripper structure 2, a tire pulling structure 3 and a spraying structure 4. The robot structure 1 is a six-axis robot, the gripper structure 2 is arranged on the robot structure 1, the gripper structure 2 is used for grabbing a tire 27, the tire pulling structure 3 is used for clamping the tire 27 and cooperating with the robot structure 1 and the gripper structure 2 to pull out the tire 27, and the spraying structure 4 is used for spraying the tire 27.

[0031] Specifically, the present embodiment comprises a tire taking station 5, a spraying station 6 and a tire placing station 7 arranged in sequence, and the spraying structure 4, the robot structure 1 and the tire pulling structure 3 are located between the tire taking station 5 and the tire placing station 7.

[0032] In the embodiment, the gripper structure 2 comprises a linear driving structure 8, a first connecting disc 9, a second connecting disc 10 and a plurality of gripping assemblies. The first connecting disc 9 is arranged at the end of the robot structure 1. The linear driving structure 8 is a cylinder. The first connecting disc 9 and the second connecting disc 10 are coaxially arranged. The first connecting disc 9 is connected with the fixed end or the telescopic end of the linear driving structure 8. The second connecting disc 10 is connected with the telescopic end or the fixed end of the linear driving structure 8. The first connecting disc 9 is provided with a guide rod. The second connecting disc 10 is slidably connected with the guide rod. The plurality of gripping assemblies are arranged around the axis of the telescopic end of the linear driving structure 8. Each gripping assembly comprises a first gripping link 11, a second gripping link 12 and a gripping gripper 13. One end of the first gripping link 11 is connected with the first connecting disc 9. The other end of the first gripping link 11 is hingedly connected with one end of the gripping gripper 13. Adjacent first gripping links 11 are connected through a support rod 14. One end of the second gripping link 12 is hingedly connected with one end of the second connecting disc 10. The other end of the second gripping link 12 is hingedly connected with the middle part of the gripping gripper 13. The other end of the gripping gripper 13 is used for gripping the tire 27. The gripping gripper 13 extends into the inner side of the tire 27. The linear driving structure 8 drives the relative movement between the first connecting disc 9 and the second connecting disc 10, adjusts the opening size of the gripping gripper 13, realizes the gripping of the tire 27 by the gripping assembly, and the guide rod plays a guiding role in the movement process.

[0033] In the embodiment, the tire pulling structure 3 is arranged on the support 15. The tire pulling structure 3 comprises a rotary driving structure 16, a rotating disc 17 and a plurality of tire pulling assemblies. The rotary driving structure 16 is used for driving the rotating disc 17 to rotate. The rotary driving structure 16 is a rotary cylinder. The tire pulling assembly comprises a first tire pulling link 18, a second tire pulling link 19, a sliding block 20 and a tire pulling gripper 21. The first tire pulling link 18 is in S shape. One end of the first tire pulling link 18 is hingedly connected with the rotating disc 17. The other end of the first tire pulling link 18 is hingedly connected with the middle part of the second tire pulling link 19. One end of the second tire pulling link 19 is hingedly connected with the sliding block 20. The other end of the second tire pulling link 19 is hingedly connected with the tire pulling gripper 21. The sliding block 20 slides along the first sliding groove 22 of the support 15. The tire pulling gripper 21 slides along the second sliding groove 23 of the support 15. Adjacent first sliding grooves 22 are vertically arranged. Adjacent second sliding grooves 23 are vertically arranged. The second sliding grooves 23 are uniformly arranged around the center line of the rotating disc 17. The first sliding groove 22 and the second sliding groove 23 corresponding to the same tire pulling assembly are vertically arranged. The tire pulling gripper 21 is located in the inner side of the tire 27. The rotary driving structure 16 drives the rotating disc 17 to rotate, so that the tire pulling gripper 21 can slide along the second sliding groove 23, the opening size of the tire pulling gripper 21 is adjusted, and the tire pulling assembly can clamp the tire 27.

[0034] In the embodiment, the spraying structure 4 is arranged in the spraying station 6, the spraying station 6 comprises a spraying cavity, the spraying cavity is connected with a dust removal device, the spraying structure 4 comprises a spray gun, the spray gun is located in the spraying cavity, the spray gun is used for being connected with a stirring tank 24, the stirring tank 24 is used for containing and stirring spraying liquid, and a diaphragm pump is arranged on a pipeline between the stirring tank 24 and the spray gun.

[0035] The embodiment also comprises a gripper cleaning structure 25, the gripper cleaning structure 25 comprises a plurality of brushes 26, and the gripper cleaning structure 25 is used for cleaning the gripper structure 2 after spraying is completed.

[0036] The working process of the robot spraying device 100 in the embodiment is as follows: the tire 27 embryo is automatically conveyed to the tire taking station 5, the tire taking station 5 adopts a center-holding structure to hold and shape and position; after positioning, the robot structure 1 drives the gripper structure 2 to grab the tire 27 embryo and place it on the tire pulling structure 3, the tire pulling gripper 21 of the tire pulling structure 3 is opened and pulls the tire 27 embryo lower bead, the robot structure 1 drives the gripper structure 2 to pull out the collapsed lower bead of the tire 27 embryo, and then the robot structure 1 drives the gripper structure 2 and the tire 27 embryo to rotate and enter the spraying station 6, in the spraying cavity, the robot structure 1 drives the gripper structure 2 and the tire 27 embryo to rotate and lift at the same time, the spraying structure 4 is used for spraying the tire 27 embryo, after spraying is completed, the robot structure 1 drives the tire pulling structure to place the tire 27 embryo on the tire placing station, and then the robot structure 1 drives the gripper structure 2 to enter the gripper cleaning structure 25, the robot structure 1 drives the gripper structure 2 to rotate, and the cleaning of the grabbing gripper 13 of the gripper structure 2 is realized.

[0037] In the embodiment, the tire 27 is grabbed by the gripper structure 2, the tire 27 is transferred between stations, and the tire 27 is lifted and rotated by the robot structure 1, the collapsed part of the tire 27 is pulled out by the tire pulling structure 3 cooperating with the gripper structure 2 and the robot structure 1, and the tire 27 is sprayed by the spraying structure 4. The robot structure 1, the gripper structure 2, the tire pulling structure 3 and the spraying structure 4 in the utility model replace manual work, save time, improve efficiency, ensure accuracy and avoid the danger caused by manual work.

[0038] The principle and implementation mode of the utility model are described by applying specific examples in the utility model, and the above embodiment is only used for helping to understand the method and core idea of the utility model; meanwhile, according to the idea of the utility model, the specific implementation mode and application range will be changed by the general technical personnel in the field. In conclusion, the content of the specification should not be understood as the limitation of the utility model.

Claims

1. A robotic spray device, characterized by: The application relates to a robot structure, a gripper structure, a tire pulling structure and a spraying structure, wherein the gripper structure is arranged on the robot structure, the gripper structure is used for gripping a tire, the tire pulling structure is used for clamping a tire and cooperating with the robot structure and the gripper structure to pull out a collapsed part of the tire, and the spraying structure is used for spraying the tire. The gripper structure comprises straight-line driving structures, a first connecting disc, a second connecting disc and a plurality of gripping assemblies, the first connecting disc is arranged at the end of the robot structure, the first connecting disc is connected with the fixed end or the telescopic end of the straight-line driving structure, the second connecting disc is connected with the telescopic end or the fixed end of the straight-line driving structure, the gripping assemblies are respectively connected with the first connecting disc and the second connecting disc, and the straight-line driving structure drives the relative movement between the first connecting disc and the second connecting disc to realize the gripping of the gripping assemblies on the tire.

2. The robotic spray device of claim 1, wherein: Each of the gripping assemblies comprises a first gripping link, a second gripping link and a gripping gripper, one end of the first gripping link is connected with the first connecting disc, the other end of the first gripping link is hingedly connected with one end of the gripping gripper, one end of the second gripping link is hingedly connected with one end of the second connecting disc, and the other end of the second gripping link is hingedly connected with the middle part of the gripping gripper, and the other end of the gripping gripper is used for gripping the tire.

3. The robotic spray device of claim 2, wherein: The first connecting disc and the second connecting disc are coaxially arranged, and the plurality of gripping assemblies are arranged around the axis of the telescopic end of the straight-line driving structure.

4. The robotic spray device of claim 2, wherein: The first gripping links are connected through support rods, the first connecting disc is provided with a guide rod, and the second connecting disc is slidably connected with the guide rod.

5. The robotic spray device of claim 3, wherein: The tire pulling structure is arranged on a support, the tire pulling structure comprises rotating driving structures, a rotating disc and a plurality of tire pulling assemblies, the rotating driving structures are used for driving the rotating disc to rotate, each of the tire pulling assemblies is connected with the rotating disc, the rotating driving structures drive the rotating disc to rotate, and the tire pulling assemblies clamp the tire.

6. The robotic spray device of claim 1, wherein: The tire pulling assembly comprises a first tire pulling link, a second tire pulling link, a sliding block and a tire pulling gripper, one end of the first tire pulling link is hingedly connected with the rotating disc, the other end of the first tire pulling link is hingedly connected with the middle part of the second tire pulling link, one end of the second tire pulling link is hingedly connected with the sliding block, the other end of the second tire pulling link is hingedly connected with the tire pulling gripper, the sliding block slides along the first sliding groove of the support, and the tire pulling gripper slides along the second sliding groove of the support.

7. The robotic spray device of claim 6, wherein: The first sliding grooves are vertically arranged, the second sliding grooves are vertically arranged, and the first sliding groove and the second sliding groove corresponding to the same tire pulling assembly are vertically arranged.

8. The robotic spray device of claim 7, wherein: The spraying structure is arranged on a spraying station, the spraying station comprises a spraying cavity, the spraying cavity is connected with a dust removal device, the spraying structure comprises a spraying gun, the spraying gun is located in the spraying cavity, the spraying gun is used for being connected with a stirring tank, the stirring tank is used for containing and stirring spraying liquid, and a diaphragm pump is arranged on the pipeline between the stirring tank and the spraying gun.

9. The robotic painting device of claim 1, wherein: ​ 10. The robotic painting device of claim 1, wherein: Also included is a gripper cleaning structure comprising a number of brushes.

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