High-precision and high-stability electric manipulator device

Abstract

The utility model relates to a kind of high-precision high-stability electric manipulator device, it includes upper support, guide pillar, lower support, lifting frame, servo motor, rotating shaft, rotating arm, electric cylinder and claw disc;Two guide pillars are equipped between upper support and lower support, and lifting frame is sleeved with sliding on guide pillar;RV reducer is equipped on the top plate of lifting frame, RV reducer connects servo motor, and the output shaft of servo motor connects rotating shaft;Rotating shaft is sleeved with a rotating arm outside, and the outer end of rotating arm is connected with claw disc, and electric cylinder is also equipped in the middle part of rotating arm, the output end of electric cylinder is connected with claw disc, and the opening and closure of claw disc are controlled.The utility model realizes the accurate control of high-precision, high response speed to manipulator action, and ensures the positioning accuracy of manipulator in the process of grabbing and carrying.

Description

Technical Field

[0001] This utility model relates to vulcanization equipment for rubber tires, and more particularly to a high-precision and high-stability electric manipulator device. Background Technology

[0002] Tire vulcanizing machines are indispensable key equipment in the tire production process, and robotic arms, as an important component of tire vulcanizing machines, are mainly used to grasp and transport tires or tire blanks during vulcanization. With the development of the tire manufacturing industry, the performance requirements for vulcanizing machine robotic arms are becoming increasingly demanding, especially in terms of high precision and high stability.

[0003] Most existing vulcanizing machine robots use pneumatically or hydraulically driven rotary seats and can only be connected to fixed axes, which has the following shortcomings: (1) Low precision: The hydraulic system is easily affected by factors such as oil pressure fluctuation and oil temperature change, resulting in insufficient positioning accuracy and motion stability of the robot; the speed control of the cylinder drive is relatively difficult, so it is mostly used for point control with low precision, which is difficult to meet the needs of high precision production.

[0004] (2) Poor stability: The sealing performance of the hydraulic cylinder is limited, and leakage is likely to occur after long-term use. This will not only contaminate the tire blank, but also affect the normal operation of the robot.

[0005] (3) Poor flexibility: The control method of cylinder drive is relatively simple, making it difficult to achieve complex motion control and multi-degree-of-freedom coordinated actions.

[0006] Existing electric manipulators lack smooth and stable movements, impacting production efficiency and product quality. Therefore, developing a high-precision, high-stability electric manipulator for tire vulcanizing machines is crucial for improving the automation level and product quality of tire production. Utility Model Content

[0007] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a high-precision and high-stability electric manipulator device.

[0008] The purpose of this utility model is achieved as follows: A high-precision and high-stability electric manipulator device includes an upper support, a guide column, a lower support, a lifting frame, a servo motor, a rotating shaft, a rotating arm, an electric cylinder, and a claw plate. Two guide columns are provided between the upper support and the lower support. A lifting frame is slidably sleeved on the guide column. The lifting frame includes a top plate and a bottom plate, and two sliding columns are provided between the top plate and the bottom plate. The sliding columns are sleeved on the guide columns. The lifting frame is driven to rise and fall by a lifting drive device, which is located on the bottom surface of the lower support. The top plate of the lifting frame is provided with a reducer seat, the reducer seat is provided with an RV reducer, a servo motor is connected above the RV reducer, and the output shaft of the servo motor is connected to the top of the rotating shaft; A rotating arm is fitted around the outside of the rotating shaft. The outer end of the rotating arm is connected to a claw disk. An electric cylinder is also provided in the middle of the rotating arm. The output end of the electric cylinder is connected to the claw disk to control the opening and closing of the claw disk. The upper support is equipped with a fall protection device, which includes a connecting plate, a pin seat, a pin shaft, and a pin cylinder. The connecting plate is vertically mounted on the top plate of the lifting frame and has a pin hole. The top surface of the upper support is equipped with a pin seat, which has an extendable pin shaft. One end of the pin shaft is connected to the pin cylinder, which drives the pin shaft to extend. When the lifting frame is raised to the top, the pin hole of the connecting plate aligns with the pin shaft, and the pin cylinder drives the pin shaft to extend and insert into the pin hole of the connecting plate, locking the lifting frame and the upper support.

[0009] A high-precision and high-stability electric manipulator device, wherein a deep groove ball bearing is provided between the upper part of the rotating shaft and the top plate of the lifting frame, and a thrust ball bearing is provided at the bottom of the rotating shaft.

[0010] A high-precision and high-stability electric manipulator device is provided, wherein a pull-rope encoder is provided between the lifting frame and the upper support, and the pull-rope encoder precisely controls the height of the lifting frame.

[0011] A high-precision and high-stability electric manipulator device, wherein the bottom end of the rotating shaft is mounted on a lower pressure cover, and the lower pressure cover is mounted on the base plate of the lifting frame.

[0012] Compared with the prior art, the beneficial effects of this utility model are: This utility model provides a high-precision and high-stability electric manipulator device, which has the following advantages: High-precision positioning: By using a servo motor connected to an RV reducer, precise control of the robot's movements can be achieved. The servo motor has the characteristics of high precision and high response speed. Combined with the high reduction ratio and high transmission accuracy of the RV reducer, the positioning accuracy of the robot during grasping and handling can be ensured. At the same time, the pull-rope encoder accurately monitors and provides feedback on the height of the lifting frame, further improving the positioning accuracy of the robot and meeting the requirements of high-precision production.

[0013] High stability of motion: The rotating shaft is connected to the servo motor through an RV reducer, making the shaft's movement smoother and more stable; the RV reducer has high rigidity and high torque capacity, which can effectively reduce the vibration and sway of the robot during movement and improve the stability of the motion; in addition, the lifting frame is sleeved on the guide column to achieve lifting, and this structural design can ensure the smoothness and straightness of the lifting process, further enhancing the stability of the robot.

[0014] Efficient gripping and releasing: The opening and closing of the gripper disc is driven by an electric cylinder, which features rapid response and precise control, enabling the gripper disc to open and close quickly and accurately. Compared with traditional hydraulic or pneumatic cylinder drive methods, the gripper disc driven by an electric cylinder is more stable and reliable, which can effectively improve the efficiency of gripping and releasing tires and reduce production delays caused by unstable gripping.

[0015] Reduced maintenance costs: This invention employs a fully electric drive system, avoiding the leakage and maintenance problems associated with hydraulic systems. The maintenance of electric components such as electric cylinders and servo motors is relatively simple, and their service life is long, reducing equipment maintenance costs and downtime.

[0016] Enhancing Automation: The electric manipulator of this invention can seamlessly connect with the control system of the vulcanizing machine to achieve automated production. Through programming control, the manipulator can automatically complete operations such as gripping, transporting and placing tires according to the preset process flow, thereby improving the automation level and production efficiency of the production process.

[0017] High adaptability: The electric manipulator of this utility model can be flexibly adjusted according to tires of different specifications and weights. By changing the control parameters of the servo motor and the stroke of the electric cylinder, it can adapt to the gripping needs of tires of different sizes and weights, and has strong versatility and adaptability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model.

[0019] Figure 2 This is a top view of the present invention.

[0020] Figure 3 This is a schematic diagram illustrating the application of this utility model.

[0021] Figure 4 for Figure 3 A magnified view of section I.

[0022] in: Upper support 1, guide column 2, lower support 3, lifting frame 4, lifting drive device 5, servo motor 6, RV reducer 7, reducer seat 8, deep groove ball bearing 9, rotating shaft 10, thrust ball bearing 11, lower pressure cover 12, rotating arm 13, electric cylinder 14, claw plate 15, anti-fall device 16, connecting plate 16.1, pin seat 16.2, pin shaft 16.3, pin cylinder 16.4, pull rope encoder 17. Detailed Implementation

[0023] To better understand the technical solution of this utility model, a detailed description will be provided below in conjunction with relevant illustrations. It should be understood that the specific embodiments described below are not intended to limit the specific implementation of the technical solution of this utility model, but are merely possible implementations of the technical solution of this utility model. It should be noted that the descriptions of the positional relationships of the components herein, such as component A being located above component B, are based on the relative positions of the components in the illustrations and are not intended to limit the actual positional relationships of the components. Example 1

[0024] See Figures 1-4 , Figure 1 A schematic diagram of a high-precision and high-stability electric manipulator device is shown. As shown in the figure, the high-precision and high-stability electric manipulator device of this utility model includes an upper support 1, a guide column 2, a lower support 3, a lifting frame 4, a servo motor 6, a rotating shaft 10, a rotating arm 13, an electric cylinder 14, a claw plate 15, a fall protection device 16, and a rope encoder 17.

[0025] Two guide columns 2 are provided between the upper support 1 and the lower support 3. A lifting frame 4 is slidably sleeved on the guide column 2. The lifting frame 4 includes a top plate and a bottom plate, and two sliding columns are provided between the top plate and the bottom plate. The sliding columns are sleeved on the guide columns 2. The lifting frame 4 is driven to rise and fall by a lifting drive device 5. The lifting drive device 5 is provided on the bottom surface of the lower support 3.

[0026] The top plate of the lifting frame 4 is provided with a reducer seat 8, and an RV reducer 7 is provided on the reducer seat 8. A servo motor 6 is connected above the RV reducer 7. The output shaft of the servo motor 6 is connected to the top of the rotating shaft 10. The bottom end of the rotating shaft 10 is set on the lower pressure cover 12, which is set on the bottom plate of the lifting frame 4. A deep groove ball bearing 9 is provided between the upper part of the rotating shaft 10 and the top plate of the lifting frame 4 to provide a large radial force. A thrust ball bearing 11 is provided at the bottom of the rotating shaft 10 to provide a large axial force. The deep groove ball bearing 9 and the thrust ball bearing 11 cooperate to further improve stability.

[0027] A rotating arm 13 is sleeved on the outside of the rotating shaft 10. The outer end of the rotating arm 13 is connected to the claw disk 15. An electric cylinder 14 is also provided in the middle of the rotating arm 13. The output end of the electric cylinder 14 is connected to the claw disk 15 to control the opening and closing of the claw disk 15. The electric cylinder 14 precisely controls the extension and retraction stroke of the claw disk 15, while the pneumatic cylinder needs to be adjusted manually.

[0028] The upper support 1 is equipped with a fall protection device 16, which includes a connecting plate 16.1, a pin seat 16.2, a pin shaft 16.3, and a pin cylinder 16.4. The connecting plate 16.1 is vertically mounted on the top plate of the lifting frame 4 and has a pin hole. The top surface of the upper support 1 is provided with a pin seat 16.2, which has an extendable pin shaft 16.3. One end of the pin shaft 16.3 is connected to the pin cylinder 16.4, which drives the extension of the pin shaft 16.3. When the lifting frame 4 is raised to the top, the pin hole of the connecting plate 16.1 is aligned with the pin shaft 16.3, and the pin cylinder 16.4 drives the pin shaft 16.3 to extend and insert into the pin hole of the connecting plate 16.1, locking the lifting frame 4 and the upper support 1 to prevent the robot arm from falling from the highest point during operation.

[0029] A pull-rope encoder 17 is provided between the lifting frame 4 and the upper support 1, and the pull-rope encoder 17 precisely controls the height of the lifting frame 4.

[0030] The above are merely specific application examples of this utility model and do not constitute any limitation on the scope of protection of this utility model. All technical solutions formed by equivalent transformations or equivalent substitutions fall within the scope of protection of this utility model.

Claims

1. A high-precision and high-stability electric manipulator device, characterized in that: It includes an upper support (1), a guide column (2), a lower support (3), a lifting frame (4), a servo motor (6), a rotating shaft (10), a rotating arm (13), an electric cylinder (14), and a claw plate (15). Two guide columns (2) are provided between the upper support (1) and the lower support (3). A lifting frame (4) is slidably sleeved on the guide column (2). The lifting frame (4) includes a top plate and a bottom plate and two sliding columns disposed between the top plate and the bottom plate. The sliding columns are sleeved on the guide column (2). The lifting frame (4) is driven to rise and fall by a lifting drive device (5). The lifting drive device (5) is disposed on the bottom surface of the lower support (3). The top plate of the lifting frame (4) is provided with a reducer seat (8), and the reducer seat (8) is provided with an RV reducer (7). A servo motor (6) is connected above the RV reducer (7), and the output shaft of the servo motor (6) is connected to the top of the rotating shaft (10). A rotating arm (13) is sleeved on the outside of the rotating shaft (10). The outer end of the rotating arm (13) is connected to the claw disk (15). An electric cylinder (14) is also provided in the middle of the rotating arm (13). The output end of the electric cylinder (14) is connected to the claw disk (15) to control the opening and closing of the claw disk (15). The upper support (1) is provided with a fall protection device (16), which includes a connecting plate (16.1), a pin seat (16.2), a pin shaft (16.3), and a pin cylinder (16.4). The connecting plate (16.1) is vertically mounted on the top plate of the lifting frame (4), and the connecting plate (16.1) has a pin hole. The top surface of the upper support (1) is provided with a pin seat (16.2), and the pin seat (16.2) has an extendable... The pin shaft (16.3) is connected to a pin cylinder (16.4) at one end. The pin shaft (16.4) is driven to extend the pin shaft (16.3). When the lifting frame (4) is raised to the top, the pin hole of the connecting plate (16.1) is aligned with the pin shaft (16.3). The pin cylinder (16.4) drives the pin shaft (16.3) to extend and insert into the pin hole of the connecting plate (16.1), locking the lifting frame (4) and the upper support (1).

2. The high-precision and high-stability electric manipulator device according to claim 1, characterized in that: A deep groove ball bearing (9) is provided between the upper part of the rotating shaft (10) and the top plate of the lifting frame (4), and a thrust ball bearing (11) is provided at the bottom of the rotating shaft (10).

3. The high-precision and high-stability electric manipulator device according to claim 1, characterized in that: A pull-rope encoder (17) is provided between the lifting frame (4) and the upper support (1), and the pull-rope encoder (17) precisely controls the height of the lifting frame (4).

4. The high-precision and high-stability electric manipulator device according to claim 1, characterized in that: The bottom end of the rotating shaft (10) is set on the lower pressure cover (12), and the lower pressure cover (12) is set on the bottom plate of the lifting frame (4).

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