CN106346655B - A kind of four station vulcanizers demoulding telescopic manipulator - Google Patents
A kind of four station vulcanizers demoulding telescopic manipulator Download PDFInfo
- Publication number
- CN106346655B CN106346655B CN201610997464.3A CN201610997464A CN106346655B CN 106346655 B CN106346655 B CN 106346655B CN 201610997464 A CN201610997464 A CN 201610997464A CN 106346655 B CN106346655 B CN 106346655B
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- Prior art keywords
- cylinder
- fixed
- telescopic
- arm
- vertical
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
- B29C35/002—Component parts, details or accessories; Auxiliary operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
- B29C33/44—Moulds or cores; Details thereof or accessories therefor with means for, or specially constructed to facilitate, the removal of articles, e.g. of undercut articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2030/00—Pneumatic or solid tyres or parts thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Thermal Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four station vulcanizers to demould telescopic manipulator, include vertical lifting mechanism, lifting slider, telescoping mechanism, pawl disk, swing arm, first cylinder and the second cylinder, lifting slider is arranged in vertical lifting mechanism to be gone up and down along the vertical direction by the driving of vertical lifting mechanism, telescoping mechanism one end is rotatably arranged on lifting slider, pawl disk is arranged in the telescoping mechanism other end, first cylinder is hinged on lifting slider, swing arm one end is hinged on lifting slider, first cylinder one end and swing arm other end are hinged, second cylinder is hinged on telescoping mechanism, second cylinder one end is hinged on swing arm other end.The present invention realizes the large angle pendulum of gripper by two cylinder cooperations, and by telescopic arm structure, guarantees that the variation of gripper length is flexible, job run is reliable, long service life.
Description
Technical field
The present invention relates to a kind of manipulator, especially a kind of four station vulcanizers demould telescopic manipulator.
Background technique
With popularizing for present industrial automation, the application occasion of manipulator is more and more.Manipulator can repeat to do same
One movement, and never feel tired！It is high in the popularity rate of tyre industry, manipulator, commonly used in the crawl of tire.
Flat vulcanizer pickoff is used in one kind, it is desirable that manipulator mechanical arm is longer, and can multistation
Operation, when using linear guide as mobile guiding, too long cantilever leads to the lifting of manipulator with the self weight of biggish cantilever
Pole has some setbacks, it is therefore desirable to which a kind of new mechanical arm guarantees reliable for operation, possesses longer while can satisfy multistation operation
Service life.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of four station vulcanizers to demould telescopic manipulator, it runs
Reliably, long service life.
In order to solve the above technical problems, the technical scheme adopted by the invention is that:
A kind of four station vulcanizers demoulding telescopic manipulator, it is characterised in that: slided comprising vertical lifting mechanism, lifting
Block, telescoping mechanism, pawl disk, swing arm, the first cylinder and the second cylinder, lifting slider are arranged in vertical lifting mechanism by rising vertically
Descending mechanism driving is gone up and down along the vertical direction, and telescoping mechanism one end is rotatably arranged on lifting slider, and pawl disk is arranged in telescoping mechanism
The other end, the first cylinder are hinged on lifting slider, and swing arm one end is hinged on lifting slider, and first cylinder one end and swing arm are another
One end is hinged, and the second cylinder is hinged on telescoping mechanism, and second cylinder one end is hinged on swing arm other end.
Further, the telescoping mechanism includes fixed arm, telescopic arm and telescopic cylinder, and fixed arm and telescopic arm are sky
Heart cylinder, fixed arm one end are hinged on lifting slider, and telescopic arm is slidably arranged in fixed arm, and telescopic cylinder setting is flexible
In arm and telescopic cylinder one end is hinged on fixed arm end, and the telescopic cylinder other end is fixed on telescopic arm.
Further, a self-lubricating copper sheathing, setting on the outside of telescopic arm inner end are provided on the fixed arm outer end inner wall
There is a self-lubricating copper sheathing.
Further, it is provided with flexible litter and litter bracket on the downside of the fixed arm, litter bracket is fixed on fixed arm
Downside, flexible horizontally disposed and flexible litter one end of litter are fixedly connected with telescopic arm outer end, and the flexible litter other end passes through
Litter bracket slide is arranged in litter bracket.
Further, the vertical lifting mechanism includes bracket, vertical cylinder and two vertical litter, two vertical litter
It is vertically arranged and vertical litter both ends is fixed on bracket, lifting slider is set on two vertical litter and being capable of edge
Vertical litter slide up and down, vertical cylinder is fixed on vertically on the upside of bracket, and vertical cylinder lower end piston rod and lifting slider are solid
Fixed connection.
Further, the bracket includes pedestal, upside top plate and vertical stand, and vertical stand is vertically arranged and under vertical stand
End is fixed on the base side, and upside top plate is horizontally disposed and upside top plate side is fixed on vertical stand side.
Further, the pawl disk includes fixed bracket, fixed ring, swivel becket, several grippers and rotation cylinder, is fixed
Ring is horizontally disposed and fixed ring side is fixed on fixed bracket, and fixed bracket is fixed on telescopic arm end, swivel becket rotation
It is arranged on the downside of fixed ring, rotation cylinder one end is hinged on swivel becket, and the rotation cylinder other end is hinged on fixed bracket, if
Dry gripper is set in qually spaced between fixed ring and swivel becket.
Further, the gripper is L-type, and gripper upper end edge fixed ring, which radially slides, to be arranged on the downside of fixed ring,
It is fixedly installed a pin on the downside of gripper, each gripper is corresponded on swivel becket and is provided with an arc chute, pin is sliding
It is dynamic to be arranged in arc chute.
Further, the gripper lower end outside is evenly arranged with the sawtooth being distributed along the vertical direction.
Further, it is that fixed ring lateral surface is provided with an edge that the swivel becket, which is rotatably arranged on fixed ring lower structure,
The annular channel being circumferentially arranged, swivel becket upside are provided with several pulleys, and pulley is horizontally disposed and is rotatably arranged on rotation
On the upside of ring, pulley side is arranged in annular channel.
Compared with prior art, the present invention having the following advantages that and effect: realizing gripper by two cylinders cooperations
Large angle pendulum, and by telescopic arm structure, guarantee that the variation of gripper length is flexible, job run is reliable, long service life.
Detailed description of the invention
Fig. 1 is the schematic diagram of four station vulcanizer of one kind demoulding telescopic manipulator of the invention.
Fig. 2 is the top view of four station vulcanizer of one kind demoulding telescopic manipulator of the invention.
Fig. 3 is the partial schematic diagram of four station vulcanizer of one kind demoulding telescopic manipulator of the invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing and by embodiment, and following embodiment is to this hair
Bright explanation and the invention is not limited to following embodiments.
As shown, four station vulcanizer of one kind of the invention demoulds telescopic manipulator, comprising vertical lifting mechanism, rise
Sliding block 1, telescoping mechanism 2, pawl disk 3, swing arm 4, the first cylinder 5 and the second cylinder 6 drop, and lifting slider 1 is arranged in vertical lifting machine
It is gone up and down along the vertical direction on structure by the driving of vertical lifting mechanism, 2 one end of telescoping mechanism is rotatably arranged on lifting slider 1, pawl disk 3
It is arranged in 2 other end of telescoping mechanism, the first cylinder 5 is hinged on lifting slider 1, and 4 one end of swing arm is hinged on lifting slider 1,
First cylinder, 5 one end and 4 other end of swing arm are hinged, and the second cylinder 6 is hinged on telescoping mechanism 2, and 6 one end of the second cylinder is hinged on
4 other end of swing arm.By the cooperation of the first cylinder 5 and the second cylinder 6, the rotation of the manipulator of wide-angle, two gas are realized
Stopping at an arbitrary position may be implemented in cylinder, and after the first cylinder 5 stretches out stroke maximum, the second cylinder 6 stretches out, at this time due to two
A cylinder is that intermediate trunnion installation (hinged) can not rotate so the first cylinder 5 will be pushed by the second cylinder 6, therefore add
Enter swing arm 4, swing arm is rotatable, the locking when the first cylinder 5 extend out to stroke maximum, and rocker arm limits when the second cylinder 6 stretches out again
The rotation of first cylinder 5, it is most important that counteract radial force suffered by 5 piston rod of the first cylinder, allow 5 piston of the first cylinder
Bar is only by axial force, while the locking of the first cylinder 5 ensure that the piston rod of first cylinder 5 in the effect of the second cylinder 6 not
Displacement can be generated, two cylinder head connections is thereby realized, increases cylinder stroke, realize the big angle rotary of mechanical arm.
Telescoping mechanism 2 includes fixed arm 7, telescopic arm 8 and telescopic cylinder 9, and fixed arm 7 and telescopic arm 8 are hollow cylinder,
7 one end of fixed arm is hinged on lifting slider 1, and telescopic arm 8 is slidably arranged in fixed arm 7, and telescopic cylinder 9 is arranged in telescopic arm
In 8 and 9 one end of telescopic cylinder is hinged on 7 end of fixed arm, and 9 other end of telescopic cylinder is fixed on telescopic arm 8.Fixed arm 7
It is provided with a self-lubricating copper sheathing 10 on outer end inner wall, is provided with a self-lubricating copper sheathing 10 on the outside of 8 inner end of telescopic arm, guarantees
Structural rigidity, while self-lubricating copper sheathing guarantees the cleaning of inner cylinders without using grease lubrication.It is arranged on the downside of fixed arm 7
There are flexible litter 11 and litter bracket 12, litter bracket 12 is fixed on 7 downside of fixed arm, and flexible litter 11 is horizontally disposed and stretches
11 one end of contracting litter is fixedly connected with 8 outer end of telescopic arm, and flexible 11 other end of litter passes through litter bracket 12 and is slidably arranged in cunning
In pole bracket 12.
Vertical lifting mechanism includes bracket, vertical cylinder 13 and two vertical litter 14, and two vertical litter 14 are vertical
It is arranged and vertical 14 both ends of litter is fixed on bracket, lifting slider 1 is set on two vertical litter 14 and being capable of edge
Vertical litter 14 slide up and down, vertical cylinder 13 is fixed on vertically on the upside of bracket, 13 lower end piston rod of vertical cylinder and lifting
Sliding block 1 is fixedly connected.Bracket includes pedestal 15, upside top plate 16 and vertical stand 17, and vertical stand 17 is vertically arranged and vertical stand
17 lower ends are fixed on 15 upside of pedestal, and upside top plate 16 is horizontally disposed and top plate 16 side in upside is fixed on 17 side of vertical stand
Face.
Pawl disk 3 includes fixed bracket 18, fixed ring 19, swivel becket 20, several grippers 21 and rotation cylinder 22, fixed ring
19 is horizontally disposed and 19 side of fixed ring is fixed on fixed bracket 18, and fixed bracket 18 is fixed on 8 end of telescopic arm, rotates
Ring 20 is rotatably arranged on 19 downside of fixed ring, and 22 one end of rotation cylinder is hinged on swivel becket 20,22 other end of rotation cylinder hinge
It connects on fixed bracket 18, several grippers 21 are set in qually spaced between fixed ring 19 and swivel becket 20.Gripper 21 is L
Type, 21 upper end edge fixed ring 19 of gripper radially slide setting and are fixedly installed one on the downside of 19 downside of fixed ring, gripper 21
Root pin corresponds to each gripper 21 on swivel becket 20 and is provided with an arc chute 23, and pin is slidably arranged in arc chute
In 23.21 lower end outside of gripper is evenly arranged with the sawtooth being distributed along the vertical direction.Swivel becket 20 is rotatably arranged on fixed ring
19 lower structures are that 19 lateral surface of fixed ring is provided with a circumferentially arranged annular channel 24, are provided on the upside of swivel becket 20
Several pulleys 25, pulley 25 is horizontally disposed and is rotatably arranged on 20 upside of swivel becket, and 25 side of pulley is arranged in annular groove
In road 24.
Above content is only illustrations made for the present invention described in this specification.Technology belonging to the present invention
The technical staff in field can do various modifications or supplement or is substituted in a similar manner to described specific embodiment, only
It should belong to guarantor of the invention without departing from the content or beyond the scope defined by this claim of description of the invention
Protect range.
Claims (10)
1. a kind of four station vulcanizers demould telescopic manipulator, it is characterised in that: comprising vertical lifting mechanism, lifting slider,
Telescoping mechanism, pawl disk, swing arm, the first cylinder and the second cylinder, lifting slider are arranged in vertical lifting mechanism by vertical lifting
Mechanism driving is gone up and down along the vertical direction, and telescoping mechanism one end is rotatably arranged on lifting slider, and the setting of pawl disk is another in telescoping mechanism
One end, the first cylinder are hinged on lifting slider, and swing arm one end is hinged on lifting slider, and first cylinder one end and swing arm are another
End is hinged, and the second cylinder is hinged on telescoping mechanism, and second cylinder one end is hinged on swing arm other end.
2. a kind of four stations vulcanizer described in accordance with the claim 1 demoulds telescopic manipulator, it is characterised in that: described flexible
Mechanism includes fixed arm, telescopic arm and telescopic cylinder, and fixed arm and telescopic arm are hollow cylinder, and fixed arm one end is hinged on liter
It drops on sliding block, telescopic arm is slidably arranged in fixed arm, and telescopic cylinder is arranged in telescopic arm and telescopic cylinder one end is hinged
In fixed arm end, the telescopic cylinder other end is fixed on telescopic arm.
3. a kind of four station vulcanizers demould telescopic manipulator according to claim 2, it is characterised in that: the fixation
It is provided with a self-lubricating copper sheathing on arm outer end inner wall, is provided with a self-lubricating copper sheathing on the outside of telescopic arm inner end.
4. according to a kind of four stations vulcanizer demoulding telescopic manipulator described in claim 2 or 3, it is characterised in that: described
Flexible litter and litter bracket are provided on the downside of fixed arm, litter bracket is fixed on the downside of fixed arm, and the litter that stretches is horizontally disposed
And flexible litter one end is fixedly connected with telescopic arm outer end, and the litter other end that stretches passes through litter bracket slide and is arranged in litter
In bracket.
5. a kind of four stations vulcanizer described in accordance with the claim 1 demoulds telescopic manipulator, it is characterised in that: described vertical
Elevating mechanism includes bracket, vertical cylinder and two vertical litter, and two vertical litter are vertically arranged and vertical litter two
End is fixed on bracket, and lifting slider is set on two vertical litter and can slide up and down along vertical litter, vertically
Cylinder is fixed on vertically on the upside of bracket, and vertical cylinder lower end piston rod is fixedly connected with lifting slider.
6. a kind of four station vulcanizers demould telescopic manipulator according to claim 5, it is characterised in that: the bracket
Comprising pedestal, upside top plate and vertical stand, vertical stand is vertically arranged and vertical stand lower end is fixed on the base side, upside top plate
Horizontally disposed and upside top plate side is fixed on vertical stand side.
7. a kind of four stations vulcanizer described in accordance with the claim 1 demoulds telescopic manipulator, it is characterised in that: the pawl disk
Comprising fixed bracket, fixed ring, swivel becket, several grippers and rotation cylinder, fixed ring is horizontally disposed with and fixed ring side
It is fixed on fixed bracket, fixed bracket is fixed on telescopic arm end, and swivel becket is rotatably arranged on the downside of fixed ring, rotation cylinder
One end is hinged on swivel becket, and the rotation cylinder other end is hinged on fixed bracket, and several grippers are set in qually spaced in fixation
Between ring and swivel becket.
8. a kind of four station vulcanizers demould telescopic manipulator according to claim 7, it is characterised in that: the machinery
Pawl is L-type, and gripper upper end edge fixed ring, which radially slides, to be arranged on the downside of fixed ring, is fixedly installed a pin on the downside of gripper
Column corresponds to each gripper on swivel becket and is provided with an arc chute, and pin is slidably arranged in arc chute.
9. demoulding telescopic manipulator according to four station vulcanizer of one kind described in claim 7 or 8, it is characterised in that: described
Gripper lower end outside is evenly arranged with the sawtooth being distributed along the vertical direction.
10. demoulding telescopic manipulator according to four station vulcanizer of one kind described in claim 7 or 8, it is characterised in that: described
Swivel becket is rotatably arranged on fixed ring lower structure, and fixed ring lateral surface is provided with a circumferentially arranged annular channel, turns
Several pulleys are provided on the upside of rotating ring, pulley is horizontally disposed and is rotatably arranged on the upside of swivel becket, and the setting of pulley side exists
In annular channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997464.3A CN106346655B (en) | 2016-11-14 | 2016-11-14 | A kind of four station vulcanizers demoulding telescopic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610997464.3A CN106346655B (en) | 2016-11-14 | 2016-11-14 | A kind of four station vulcanizers demoulding telescopic manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346655A CN106346655A (en) | 2017-01-25 |
| CN106346655B true CN106346655B (en) | 2018-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610997464.3A Active CN106346655B (en) | 2016-11-14 | 2016-11-14 | A kind of four station vulcanizers demoulding telescopic manipulator |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109049782A (en) * | 2018-09-09 | 2018-12-21 | 巨轮智能装备股份有限公司 | The three axis truss robots for vulcanizer tire handling |
| CN109304473A (en) * | 2018-11-29 | 2019-02-05 | 中天智能装备有限公司 | ICP plasma straight-line heating device |
| CN110654044B (en) * | 2019-10-23 | 2024-10-22 | 浙江荣升机械有限公司 | Tire vulcanizer |
| CN111660604B (en) * | 2020-06-09 | 2021-10-08 | 浙江工业大学之江学院 | Automatic demolding of products in process and automatic conversion mechanism of forming mold and control method thereof |
| CN215477508U (en) * | 2021-07-30 | 2022-01-11 | 深圳市海柔创新科技有限公司 | Transfer robot and logistics system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994025241A1 (en) * | 1993-04-30 | 1994-11-10 | Kumho & Co., Inc. | Apparatus for unloading tires for a tire vulcanizing machine |
| CN201669703U (en) * | 2010-05-14 | 2010-12-15 | 郑州新大方重工科技有限公司 | Turnover mechanical arm |
| CN203738814U (en) * | 2013-12-30 | 2014-07-30 | 泉州梅洋塑胶五金制品有限公司 | Novel telescopic boom of manipulator |
| CN104552334A (en) * | 2015-01-04 | 2015-04-29 | 江苏晟林科技有限公司 | Four-station tire unloading mechanical arm |
| CN106079192A (en) * | 2016-07-29 | 2016-11-09 | 南通润邦重机有限公司 | Double-deck bimodulus fluid pressure type shaper vulcanizer |
-
2016
- 2016-11-14 CN CN201610997464.3A patent/CN106346655B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994025241A1 (en) * | 1993-04-30 | 1994-11-10 | Kumho & Co., Inc. | Apparatus for unloading tires for a tire vulcanizing machine |
| CN201669703U (en) * | 2010-05-14 | 2010-12-15 | 郑州新大方重工科技有限公司 | Turnover mechanical arm |
| CN203738814U (en) * | 2013-12-30 | 2014-07-30 | 泉州梅洋塑胶五金制品有限公司 | Novel telescopic boom of manipulator |
| CN104552334A (en) * | 2015-01-04 | 2015-04-29 | 江苏晟林科技有限公司 | Four-station tire unloading mechanical arm |
| CN106079192A (en) * | 2016-07-29 | 2016-11-09 | 南通润邦重机有限公司 | Double-deck bimodulus fluid pressure type shaper vulcanizer |
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| Publication number | Publication date |
|---|---|
| CN106346655A (en) | 2017-01-25 |
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