CN220131322U - Large-span multi-parking-space tire feeding and throwing manipulator - Google Patents
Large-span multi-parking-space tire feeding and throwing manipulator Download PDFInfo
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- CN220131322U CN220131322U CN202321662311.5U CN202321662311U CN220131322U CN 220131322 U CN220131322 U CN 220131322U CN 202321662311 U CN202321662311 U CN 202321662311U CN 220131322 U CN220131322 U CN 220131322U
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- 230000007306 turnover Effects 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 6
- 238000007599 discharging Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
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- 238000006073 displacement reaction Methods 0.000 description 1
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Abstract
The utility model relates to a large-span multi-parking-place tire feeding manipulator which comprises a frame, a control cabinet, a cross beam, an X-direction sliding plate, a Z-direction lifting plate, a clamping mechanism, a Y-direction translation mechanism, an X-direction translation mechanism and a Z-direction translation mechanism, wherein the cross beam is slidingly arranged on the frame along the Y direction; the clamping mechanism comprises two clamping assemblies which slide relatively and a clamping driving piece which drives the clamping assemblies to move in opposite directions, and each clamping assembly comprises a clamping sliding seat, a turnover plate which can be arranged on the clamping sliding seat in a turnover mode, two clamping arms which are respectively hinged to the turnover plate, and a turnover driving piece which drives the turnover plate to rotate. The structure can translate, stably clamp and turn over in three degrees of freedom positions, and realizes the quick tire feeding.
Description
Technical Field
The utility model belongs to the field of carrying mechanical equipment, and particularly relates to a large-span multi-parking-space tire on-line throwing manipulator.
Background
A robot is an automatic operation device capable of imitating a human hand and an arm, and is used for grabbing and carrying objects or operating tools according to a fixed procedure, and is also often used for carrying tires of automobiles.
The utility model patent of China patent number 201920078547.1 discloses a full-automatic tire feeding and taking assembly, which comprises a supporting device, a moving device and a tire discharging machine, wherein the moving device is arranged on the supporting device, the tire discharging machine for grabbing tires is arranged below the moving device, and the moving device adopts a transverse moving device driven by a servo motor and an up-down moving device driven by an oil cylinder and is used for moving the tire discharging machine. The middle part of the clamping arm of the tire discharging machine is sleeved on the fixed shaft, the upper end of the clamping arm is movably connected with the driving oil cylinder, and the clamping arm rotates along the fixed shaft to realize opening and closing under the action of the driving oil cylinder, so that the tire is clamped or loosened. The structure can only realize the position adjustment of two degrees of freedom, and because the clamping arm adopts a hinged opening and closing mode, the opening and closing range is small, the requirement of tire clamping with smaller size change can be met, in addition, the structure does not have a turnover function, the turnover can not be realized for tires with different placing postures, and the use is inflexible.
Disclosure of Invention
The technical problem to be solved by the utility model is to overcome the problems, and provide the large-span multi-parking-space tire on-line feeding manipulator which can finish the multi-procedures of accurate position translation, stable clamping, overturning and the like of three degrees of freedom, so that the manipulator can rapidly move among the multi-on-line parking spaces, and the tire on-line in different positions, specifications and placing postures can be met.
The technical scheme of the utility model is as follows:
large-span multi-parking-space tire feeding mechanical arm is characterized in that: the device comprises a frame, a control cabinet, a cross beam which spans the frame and can slide along the Y direction, an X-direction sliding plate which is arranged on the cross beam in the X direction in a sliding manner, a Z-direction lifting plate which is arranged on the X-direction sliding plate in the Z direction in a sliding manner, a clamping mechanism which is arranged on the Z-direction lifting plate, a Y-direction translation mechanism, an X-direction translation mechanism and a Z-direction translation mechanism; the movable end of the Y-direction translation mechanism is connected with the cross beam, the movable end of the X-direction translation mechanism is connected with the X-direction sliding plate, and the movable end of the Z-direction translation mechanism is connected with the Z-direction lifting plate;
the clamping mechanism comprises two clamping assemblies which are arranged on the Z-direction lifting plate in a relative sliding manner and a clamping driving piece for driving the two clamping assemblies to move in opposite directions, wherein each clamping assembly comprises a clamping sliding seat connected with the movable end of the clamping driving piece, a turnover plate which can be arranged on the clamping sliding seat in a turnover manner, two clamping arms which are respectively hinged to the turnover plate, and a turnover driving piece for driving the turnover plate to rotate.
Further, in the large-span multi-parking-space tire on-line feeding manipulator disclosed by the utility model, the clamping driving piece comprises a pair of clamping cylinders which are reversely arranged, and the output end of each clamping cylinder is correspondingly connected with a clamping sliding seat; and each clamping sliding seat is further provided with a clamping rack and two clamping gears which are arranged in parallel, the Z-direction lifting plate is rotatably provided with the clamping gears, and the clamping gears are clamped between the two clamping racks and meshed with the two clamping racks at the same time.
Further, in the large-span multi-parking-space tire on-line feeding manipulator disclosed by the utility model, the Z-direction lifting plate is rotatably provided with the first limiting wheels corresponding to each clamping rack, and the first limiting wheels are in rolling contact with one side surface of the clamping rack, which is far away from the clamping gear, so that the clamping rack is prevented from falling off in the sliding process, and is always meshed with the clamping gear.
Further, in the large-span multi-parking-space tire on-line feeding manipulator disclosed by the utility model, the overturning driving piece comprises an overturning cylinder, the overturning cylinder is fixed on the clamping sliding seat, the output end of the overturning cylinder is connected with an overturning rack, an overturning shaft with an axis extending along the X direction is arranged on the overturning plate, and an overturning gear meshed with the overturning rack is sleeved on the overturning shaft.
Further, in the large-span multi-parking-space tire on-line feeding manipulator disclosed by the utility model, the clamping sliding seat is rotatably provided with the second limiting wheel, and the second limiting wheel is in rolling contact with one side surface of the overturning rack, which is far away from the overturning gear, so that the overturning rack is prevented from falling off in the sliding process, and is always meshed with the overturning gear.
Further, in the large-span multi-parking-space tire on-line feeding manipulator, the Y-direction translation mechanisms are two groups, each group comprises a movable trolley, a Y-direction guide rail, a Y-direction rack, a Y-direction driving motor and a Y-direction gear, the movable trolley is arranged at the end part of the cross beam and is in sliding fit with the rack through the Y-direction guide rail, the Y-direction rack is fixed on the rack, the Y-direction driving motor is fixed on the movable trolley, and the Y-direction gear is sleeved on the output end of the Y-direction driving motor and is meshed with the Y-direction rack.
Further, in the large-span multi-parking-space tire on-line feeding manipulator disclosed by the utility model, the X-direction translation mechanism comprises an X-direction guide rail, an X-direction rack, an X-direction driving motor and an X-direction gear, wherein the X-direction sliding plate and the cross beam are in sliding fit through the X-direction guide rail, the X-direction rack is fixed on the cross beam, the X-direction driving motor is fixed on the X-direction sliding plate, and the X-direction gear is sleeved on the output end of the X-direction driving motor and meshed with the X-direction rack.
Further, in the large-span multi-parking-space tire on-line feeding manipulator disclosed by the utility model, the Z-direction translation mechanism comprises a Z-direction guide rail, a Z-direction rack, a Z-direction driving motor and a Z-direction gear, the Z-direction lifting plate is in sliding fit with the X-direction sliding plate through the Z-direction guide rail, the Z-direction rack is fixed on the Z-direction lifting plate, the Z-direction driving motor is fixed on the X-direction sliding plate, and the Z-direction gear is sleeved on the output end of the Z-direction driving motor and meshed with the Z-direction rack.
The beneficial effects of the utility model are as follows:
1. this structure has the position translation of X, Y, Z three degrees of freedom, centre gripping, upset etc. function, makes the free movement of manipulator between a plurality of upper wire parking stalls switch, adopts two-way slip clamp to snatch and upset mode, can satisfy different positions, size, swing gesture's tire clamp and get the upper wire demand, and the flexibility of use is higher.
2. The structure adopts a rack and pinion transmission structure in each direction of translation, clamping and overturning structures, has simple structure, large bearing capacity, quick and accurate positioning and high precision, and can meet the requirement of long-distance large-span displacement.
3. The structure adopts double-cylinder reverse driving during clamping and is matched with the meshing action of double clamping racks and the same clamping gear,
the driving force cannot be ensured to be sufficient, and the two clamping sliding seats are restrained each other in the translational clamping process, so that the stability and the synchronism of the clamping movement are remarkable.
4. The arm lock of this structure adopts the articulated mode, and self-adaptation rotation guarantees that the arm lock can coincide all the time and contact not unidimensional tire outer disc in the centre gripping in-process, improves the stability and the firmness of centre gripping.
Drawings
Fig. 1 is a front view of the present utility model.
Fig. 2 is a top view of the present utility model.
Fig. 3 is an enlarged schematic view of the circle of fig. 2.
Fig. 4 is a cross-sectional view taken along P-P of fig. 1.
Fig. 5 is an enlarged schematic view of the circle of fig. 4.
Fig. 6 is a schematic bottom view of the clamping mechanism of the present utility model.
Detailed Description
The utility model will now be further described with reference to the accompanying drawings:
referring to fig. 1-6, the embodiment provides a large-span multi-parking-space tire on-line feeding manipulator, which comprises a frame 1, a control cabinet (not shown in the figure), a cross beam 2 which spans on the frame 1 and can slide along the Y direction, an X-direction sliding plate 3 which slides on the cross beam 2 along the X direction, a Z-direction lifting plate 4 which slides on the X-direction sliding plate 3 along the Z direction, a clamping mechanism arranged on the Z-direction lifting plate 4, a Y-direction translation mechanism, an X-direction translation mechanism and a Z-direction translation mechanism; the movable end of the Y-direction translation mechanism is connected with the cross beam 2, the movable end of the X-direction translation mechanism is connected with the X-direction sliding plate 3, and the movable end of the Z-direction translation mechanism is connected with the Z-direction lifting plate 4.
Referring to fig. 4-6, the clamping mechanism comprises two clamping assemblies which are arranged on the Z-direction lifting plate 4 in a sliding manner and a clamping driving piece for driving the two clamping assemblies to move in opposite directions, wherein each clamping assembly comprises a clamping sliding seat 5 connected with the movable end of the clamping driving piece, a turnover plate 6 which is arranged on the clamping sliding seat 5 in a turnover manner, two clamping arms 7 which are respectively hinged on the turnover plate 6, and a turnover driving piece for driving the turnover plate 6 to rotate.
The clamping driving piece comprises a pair of clamping air cylinders 8 which are reversely arranged, and the output end of each clamping air cylinder 8 is correspondingly connected with a clamping sliding seat 5; each clamping sliding seat 5 is further provided with a clamping rack 9, the two clamping racks 9 are arranged in parallel, the Z-direction lifting plate 4 is rotatably provided with a clamping gear 10, and the clamping gear 10 is clamped between the two clamping racks 9 and is meshed with the two clamping racks 9 at the same time. The Z-direction lifting plate 4 is rotatably provided with a first limiting wheel 11 corresponding to each clamping rack 9, and the first limiting wheel 11 is in rolling contact with one side surface, far away from the clamping gear 10, of the clamping rack 9.
The turnover driving piece comprises a turnover air cylinder 12, the turnover air cylinder 12 is fixed on the clamping sliding seat 5, the output end of the turnover air cylinder is connected with a turnover rack 13, a turnover shaft 14 with an axis extending along the X direction is arranged on the turnover plate 6, and a turnover gear 15 meshed with the turnover rack 13 is sleeved on the turnover shaft 14. The clamping slide seat 5 is rotatably provided with a second limiting wheel 16, and the second limiting wheel 16 is in rolling contact with one side surface of the turnover rack 13, which is far away from the turnover gear 15.
Referring to fig. 2-6, the Y-direction translation mechanism is divided into two groups, each group comprises a moving trolley 17, a Y-direction guide rail 18, a Y-direction rack 19, a Y-direction driving motor 20 and a Y-direction gear 28, the moving trolley 17 is arranged at the end of the cross beam 2 and is in sliding fit with the frame 1 through the Y-direction guide rail 18, the Y-direction rack 19 is fixed on the frame 1, the Y-direction driving motor 20 is fixed on the moving trolley 17, and the Y-direction gear 28 is sleeved on the output end of the Y-direction driving motor 20 and is meshed with the Y-direction rack 19.
The X-direction translation mechanism comprises an X-direction guide rail 21, an X-direction rack 22, an X-direction driving motor 23 and an X-direction gear 24, wherein the X-direction sliding plate 3 is in sliding fit with the cross beam 2 through the X-direction guide rail 21, the X-direction rack 22 is fixed on the cross beam 2, the X-direction driving motor 23 is fixed on the X-direction sliding plate 3, and the X-direction gear 24 is sleeved on the output end of the X-direction driving motor 23 and meshed with the X-direction rack 22.
The Z-direction translation mechanism comprises a Z-direction guide rail 25, a Z-direction rack 26, a Z-direction driving motor 27 and a Z-direction gear, the Z-direction lifting plate 4 is in sliding fit with the X-direction sliding plate 3 through the Z-direction guide rail 25, the Z-direction rack 26 is fixed on the Z-direction lifting plate 4, the Z-direction driving motor 27 is fixed on the X-direction sliding plate 3, and the Z-direction gear is sleeved on the output end of the Z-direction driving motor 27 and meshed with the Z-direction rack 26.
The specific embodiments described herein are merely illustrative of the principles and functions of the present utility model, and are not meant to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present utility model shall be covered by the appended claims.
Claims (8)
1. Large-span multi-parking-space tire feeding mechanical arm is characterized in that: the device comprises a frame, a control cabinet, a cross beam which spans the frame and can slide along the Y direction, an X-direction sliding plate which is arranged on the cross beam in the X direction in a sliding manner, a Z-direction lifting plate which is arranged on the X-direction sliding plate in the Z direction in a sliding manner, a clamping mechanism which is arranged on the Z-direction lifting plate, a Y-direction translation mechanism, an X-direction translation mechanism and a Z-direction translation mechanism; the movable end of the Y-direction translation mechanism is connected with the cross beam, the movable end of the X-direction translation mechanism is connected with the X-direction sliding plate, and the movable end of the Z-direction translation mechanism is connected with the Z-direction lifting plate;
the clamping mechanism comprises two clamping assemblies which are arranged on the Z-direction lifting plate in a sliding manner and a clamping driving piece for driving the two clamping assemblies to move in opposite directions, wherein each clamping assembly comprises a clamping sliding seat connected with the movable end of the clamping driving piece, a turnover plate which can be arranged on the clamping sliding seat in a turnover manner, two clamping arms which are respectively hinged to the turnover plate, and a turnover driving piece for driving the turnover plate to rotate.
2. The large-span multi-stall tire on-line delivery manipulator of claim 1, wherein: the clamping driving piece comprises a pair of clamping cylinders which are reversely arranged, and the output end of each clamping cylinder is correspondingly connected with a clamping sliding seat; and each clamping sliding seat is further provided with a clamping rack and two clamping gears which are arranged in parallel, the Z-direction lifting plate is rotatably provided with the clamping gears, and the clamping gears are clamped between the two clamping racks and meshed with the two clamping racks at the same time.
3. The large-span multi-stall tire on-line delivery manipulator of claim 2, wherein: and a first limiting wheel is rotatably arranged on the Z-direction lifting plate corresponding to each clamping rack, and the first limiting wheel is in rolling contact with one side surface, far away from the clamping gear, of the clamping rack.
4. The large-span multi-stall tire on-line delivery manipulator of claim 1, wherein: the turnover driving piece comprises a turnover cylinder, the turnover cylinder is fixed on the clamping sliding seat, the output end of the turnover cylinder is connected with a turnover rack, a turnover shaft with an axis extending along the X direction is arranged on the turnover plate, and a turnover gear meshed with the turnover rack is sleeved on the turnover shaft.
5. The large-span multi-stall tire on-line delivery manipulator of claim 4, wherein: the clamping slide seat is rotatably provided with a second limiting wheel, and the second limiting wheel is in rolling contact with one side surface of the overturning rack, which is far away from the overturning gear.
6. The large-span multi-stall tire on-line delivery manipulator of claim 1, wherein: the Y-direction translation mechanism is two groups, each group comprises a travelling car, a Y-direction guide rail, a Y-direction rack, a Y-direction driving motor and a Y-direction gear, the travelling car is arranged at the end part of the cross beam and is in sliding fit with the rack through the Y-direction guide rail, the Y-direction rack is fixed on the rack, the Y-direction driving motor is fixed on the travelling car, and the Y-direction gear is sleeved on the output end of the Y-direction driving motor and meshed with the Y-direction rack.
7. The large-span multi-stall tire on-line delivery manipulator of claim 1, wherein: the X-direction translation mechanism comprises an X-direction guide rail, an X-direction rack, an X-direction driving motor and an X-direction gear, wherein the X-direction sliding plate is in sliding fit with the cross beam through the X-direction guide rail, the X-direction rack is fixed on the cross beam, the X-direction driving motor is fixed on the X-direction sliding plate, and the X-direction gear is sleeved on the output end of the X-direction driving motor and meshed with the X-direction rack.
8. The large-span multi-stall tire on-line delivery manipulator of claim 1, wherein: the Z-direction translation mechanism comprises a Z-direction guide rail, a Z-direction rack, a Z-direction driving motor and a Z-direction gear, wherein the Z-direction lifting plate is in sliding fit with the X-direction sliding plate through the Z-direction guide rail, the Z-direction rack is fixed on the Z-direction lifting plate, the Z-direction driving motor is fixed on the X-direction sliding plate, and the Z-direction gear is sleeved on the output end of the Z-direction driving motor and meshed with the Z-direction rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321662311.5U CN220131322U (en) | 2023-06-28 | 2023-06-28 | Large-span multi-parking-space tire feeding and throwing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321662311.5U CN220131322U (en) | 2023-06-28 | 2023-06-28 | Large-span multi-parking-space tire feeding and throwing manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN220131322U true CN220131322U (en) | 2023-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321662311.5U Active CN220131322U (en) | 2023-06-28 | 2023-06-28 | Large-span multi-parking-space tire feeding and throwing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220131322U (en) |
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2023
- 2023-06-28 CN CN202321662311.5U patent/CN220131322U/en active Active
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