CN115892937A - Tire centre gripping manipulator is used in production - Google Patents

Abstract

The invention relates to the field of tire clamping manipulators, and discloses a tire clamping manipulator for production, which comprises a base, wherein a first conveyor belt is arranged on the front side of the base, a first motor for driving the first conveyor belt to operate is fixedly arranged on one side of the first conveyor belt, a second conveyor belt is arranged on the other side of the first conveyor belt, a second motor for driving the second conveyor belt to operate is fixedly arranged on one side of the second conveyor belt, supporting legs are fixedly arranged at the bottom end of the base, wheels are fixedly arranged at the bottom ends of the supporting legs, a side plate is fixedly arranged on one side of the top end of the base, supporting seats are symmetrically and fixedly arranged on the other side of the top end of the base, an infrared inductor is arranged above the base, a rotary seat is arranged on each supporting seat, a manipulator device is arranged on each rotary seat, a turnover device for driving the manipulator device to turn over is arranged on each side plate, and the manipulator can turn over immediately and rapidly without manually turning over tires after clamping the tires, so that the working efficiency of tire detection is improved.

Description

Tire centre gripping manipulator is used in production

Technical Field

The invention relates to the field of tire clamping manipulators, in particular to a tire clamping manipulator for production.

Background

The tire is a circular ring elastic rubber product which is assembled on various vehicles or machines and is grounded and rolled, and is usually arranged on a metal rim, can support a vehicle body, buffer external impact, realize contact with a road surface and ensure the driving performance of the vehicle, is often used under complicated and harsh conditions, bears various deformation, load, force and high and low temperature effects during driving, and therefore has high bearing performance, traction performance and buffering performance, high wear resistance and flexibility resistance, low rolling resistance and heat generation performance, and three tests, namely an impact test, a bending fatigue test and a radial fatigue test, must be carried out on wheels of each specification in order to ensure the safety of using the wheels by users.

Before the tire leaves the factory, still need the staff to carry out the selective examination on the production line and detect whether up to standard of each item index, the selective examination detects the tire and need use the manipulator to the tire centre gripping to wait to detect the region, but because the weight of tire is too big, need carry out the turn-over to the tire in advance when detecting, current manipulator can't satisfy the synchronous motion of centre gripping and upset simultaneously for the manipulator uses inconveniently, we have proposed a production and have used tire centre gripping manipulator for this reason.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a tire clamping manipulator for production, which solves the problems.

(II) technical scheme

In order to achieve the above purpose, the invention provides the following technical scheme: the utility model provides a tire centre gripping manipulator is used in production, includes the base, the bottom fixed mounting of base has the supporting legs, the bottom fixed mounting of supporting legs has the wheel, top one side fixed mounting of base has the curb plate, the top opposite side symmetry fixed mounting of base has the supporting seat, the front side fixed mounting of supporting seat has infrared inductor, be provided with the roating seat on the supporting seat, be provided with the manipulator device on the roating seat, be provided with the turning device of drive manipulator device upset on the curb plate.

Preferably, a first conveyor belt is arranged on the front side of the base, a first motor for driving the first conveyor belt to operate is fixedly mounted on one side of the first conveyor belt, a second conveyor belt is arranged on the other side of the first conveyor belt, and a second motor for driving the second conveyor belt to operate is fixedly mounted on one side of the second conveyor belt.

Preferably, the manipulator device includes the tongs, fixed mounting has the second cylinder on the roating seat, sliding connection has the fixed block on the output of second cylinder, the terminal fixedly connected with connecting rod of output of second cylinder, the connecting rod is the barb shape structure, the upper and lower both ends swing joint of fixed block has the limiting plate, the both sides of second cylinder all are provided with first rotor arm, first rotor arm is L shape structure, the one end interlude of first rotor arm is in the limiting plate that corresponds, the other end fixed mounting of first rotor arm has the connecting block, the other end fixed mounting of connecting block has the second rotor arm, tongs fixed mounting is in the one end department of second rotor arm, and swing joint has the horizontal pole between two second rotor arms.

Preferably, a limiting groove is formed in the limiting plate, two ends of the limiting groove are communicated with the outside, the first rotating arm is located in the limiting groove and slides, a clamping block is fixedly mounted at the tail end of the first rotating arm, and the size of the clamping block is larger than the opening size of the limiting groove.

Preferably, one end of the cross rod is fixedly provided with a protection column.

Preferably, turning device includes the diaphragm, fixed mounting has first cylinder on the curb plate, the output fixed mounting of first cylinder has the slip table, diaphragm fixed mounting is in the bottom department of slip table, the below of diaphragm is provided with two gears, bearing swing joint is passed through in the inner wall of curb plate in one side of gear, the other end fixed mounting of gear has the pivot.

Preferably, a sliding seat is fixedly mounted at a position, corresponding to the sliding table, on the side plate, the cross section of the side face of the sliding seat is in a shape like a Chinese character 'zhong', a groove is formed in one side, close to the sliding seat, of the sliding table, and the sliding table is clamped on the sliding table through the groove and slides.

Preferably, the bottom end of the transverse plate is provided with a tooth groove, and the transverse plate slides on the gear through the tooth groove.

Preferably, the time for the first cylinder to push the transverse plate to move once is just the time for the rotating seat to rotate 90 degrees.

Preferably, the other end of the rotating shaft penetrates through the supporting seat and is fixedly connected with the rotating seat, and the rotating shaft is movably connected with the supporting seat through a bearing;

preferably, the front surface of the base is fixedly connected with a connecting column a, the front end of the connecting column a is fixedly connected with a slide rail a, the slide rail a is positioned on the rear side of the upper surface of the first conveyor belt, the upper surface of the slide rail a is provided with a channel, the right inner wall of the channel is fixedly connected with a spring a, the left end of the spring a is fixedly connected with a slide column a, the upper end of the slide column a is fixedly connected with a cross rod a, the middle part of the cross rod a is connected with the slide column a, the cross rod a and the infrared inductor are positioned on the same horizontal plane, the rear surface of the cross rod a is coated with a coating for absorbing infrared rays, the lower side of the middle part of the front surface of the cross rod a is fixedly connected with a stop lever a, the stop lever a and the first conveyor belt are as wide as each other, the lower end of the right surface of the stop lever a is fixedly connected with a, the bottom plate a is positioned above the first conveyor belt, the left and right surfaces of the bottom plate a are fixedly connected with convex seats a sequentially, the convex seats a are two convex seats a, the two convex seats are respectively opposite to the two infrared inductors, the right surfaces of the convex seats are inclined towards the left, and the front of the convex seats are uniformly connected with convex balls a balls; fixedly connected with crossbeam a between the two legs of front side of first conveyer belt, crossbeam a is in the top of second conveyer belt, crossbeam a is in the below of first conveyer belt, crossbeam a's front surface middle part fixedly connected with front prop a, front prop a's front end has pivot an through spring shaft swing joint, pivot an keeps away from that one side fixedly connected with guide board a of front prop a, guide board a slope sets up, guide board a's rear side flushes with first conveyer belt upper surface, the even fixedly connected with vibrations ball a of guide board a's front end lower surface equidistance, the cover a has been cup jointed to the outside of second conveyer belt fixedly, the surface unevenness of cover a, vibrations ball a contact cover a surface.

(III) advantageous effects

Compared with the prior art, the invention provides a tire clamping manipulator for production, which has the following beneficial effects:

1. this tire centre gripping manipulator is used in production, promote the connecting rod through the second cylinder and remove, thereby drive first rotor arm and second rotor arm and rotate, thereby control tongs centre gripping tire, setting through the guard post, make the rear side of tire also have supported the power, the stability of centre gripping has been improved, at first rotor arm pivoted in-process, in order to improve its pivoted stability, the limiting plate has been set up, the fixture block is installed to the end of first rotor arm, make first rotor arm along with the better rotation of removal of second cylinder output, this manipulator device simple structure, utilize the turned angle of first rotor arm and second rotor arm to realize the centre gripping, the quick stability more of centre gripping.

2. This tire centre gripping manipulator is used in production, promote the diaphragm through first cylinder and remove, thereby make the gear rotate along with the tooth's socket that the diaphragm bottom was seted up, through the rotation of gear, drive 90 reciprocal upsets of roating seat, thereby realize the turn-over of tire, subsequent quality control of being more convenient for, setting through turning device, make the manipulator behind the centre gripping tire, can turn-over immediately, do not need artifical manual upset tire, the labour has liberated, prevent the quality of quality control personnel's excessive fatigue influence quality control, the work efficiency of tire detection has been improved.

3. This tire centre gripping manipulator is used in production in order to make the diaphragm remove more stable, has set up slide and supplementary slip of slip table, and the recess of seting up on the slide is well font structure for the slip table slides the in-process and can not drop, thereby plays the gliding effect of stable diaphragm.

4. This tire centre gripping manipulator is used in production, when the tire from the first conveyer belt on the left side, the tire on right side can contact in advance and promote pin a to the right side, thereby make the tire drive horizontal pole a and move together, make the tire on right side pass through left infrared inductor under the sheltering from of horizontal pole a, and the tire on right side can drive horizontal pole a and further move to the right, thereby make left infrared inductor lose and shelter from, after left tire reachs left infrared inductor, this moment alright detected by infrared inductor, stop first conveyer belt motion, make the device can detect two tires simultaneously like this, the detection speed of device has been increased.

5. This tire centre gripping manipulator is used in production, through pin a's design, after the tire on right side reachd the infrared inductor's on right side position, slide column a contradicts slide rail a's right-hand member this moment, no matter whether left tire has or not reachd left infrared inductor department this moment, the tire on right side all can be blockked the infrared inductor motionless of location on right side by pin a, make like this that the opportunity that two tires about the measurement personnel placed can be more random, improved the transmission fault-tolerant rate of device.

6. This tire centre gripping manipulator is used in production, when the roating seat drives the tire and rotates ninety degrees for the first time, the tire breaks away from pin an this moment, pin a resets under spring a's existence, after the rotatory a week return of tire, it can be boss an to accept the tire and turn down this moment, through the slope design of boss an, the tire just can be pushed down from the tongs by boss an when the return like this, incline forward and enter into on guide board a through the guide of boss an simultaneously, contact through vibrations ball an and cover a unevenness's surface, thereby make guide board a vibrations continuous, and guide tire gradual conveying to cover a on, and the motion through the second conveyer belt is transmitted away, the automaticity of tire unloading has been improved, and the accuracy that the tire was carried away has been improved.

Drawings

FIG. 1 is a schematic front view of the structure of the present invention;

FIG. 2 is a schematic side view of the structure of the present invention;

FIG. 3 is a schematic view of the robot apparatus of the present invention in an unclamped state;

FIG. 4 is a schematic view of a clamping state of the robot apparatus according to the present invention;

FIG. 5 is a schematic view of a limiting plate according to the present invention;

FIG. 6 is a schematic view of an inverted structure of the present invention;

FIG. 7 is a schematic view of a slider and a slide table according to the present invention;

FIG. 8 is a schematic view of the position of the transverse plate and the gears of the present invention;

FIG. 9 is a general schematic of the present invention;

FIG. 10 is a schematic view of a convex ball a according to the present invention;

FIG. 11 is a schematic view of the cross bar a connection of the present invention;

FIG. 12 is a schematic view of the guiding plate a of the present invention;

fig. 13 is a schematic view of the bottom surface of the guide plate a of the present invention.

In the figure: 1. a base; 2. supporting legs; 3. a wheel; 4. a side plate; 5. a first cylinder; 6. a slide base; 7. a sliding table; 8. a groove; 9. a transverse plate; 10. a tooth socket; 11. a gear; 12. a rotating shaft; 13. a supporting base; 14. a rotating base; 15. a second cylinder; 16. a first rotation arm; 17. a connecting rod; 18. a second rotating arm; 19. a fixed block; 20. a limiting plate; 21. a limiting groove; 22. a clamping block; 23. a cross bar; 24. a guard post; 25. a first conveyor belt; 26. a second conveyor belt; 27. a first motor; 28. a second motor; 29. an infrared sensor; 30. a gripper; 31. connecting blocks; 32. connecting column a; 33. a slide rail a; 34. a spring a; 35. a sliding column a; 36. a cross bar a; 37. a gear lever a; 38. a bottom plate a; 39. a boss a; 40. a convex ball a; 41. a beam a; 42. a front pillar a; 43. a rotating shaft a; 44. a guide plate a; 45. a vibration ball a; 46. and (b) a cover sleeve a.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-13, a tire clamping manipulator for production comprises a base 1, wherein a supporting leg 2 is fixedly installed at the bottom end of the base 1, a wheel 3 is fixedly installed at the bottom end of the supporting leg 2, a side plate 4 is fixedly installed at one side of the top end of the base 1, a supporting seat 13 is symmetrically and fixedly installed at the other side of the top end of the base 1, an infrared inductor 29 is fixedly installed at the front side of the supporting seat 13, a rotary seat 14 is arranged on the supporting seat 13, a manipulator device is arranged on the rotary seat 14, and a turnover device for driving the manipulator device to turn over is arranged on the side plate 4.

Further, a first conveyor belt 25 is arranged on the front side of the base 1, a first motor 27 for driving the first conveyor belt 25 to operate is fixedly mounted on one side of the first conveyor belt 25, a second conveyor belt 26 is arranged on the other side of the first conveyor belt 25, a second motor 28 for driving the second conveyor belt 26 to operate is fixedly mounted on one side of the second conveyor belt 26, the infrared sensor 29 is electrically connected with the first motor, when two tires pass through the infrared sensor 29, the infrared sensor 29 transmits information to the first motor 27, so that the first motor 27 stops operating, and at this time, the first conveyor belt 25 stops rotating.

Further, the manipulator device includes a gripper 30, a second cylinder 15 is fixedly mounted on the rotary seat 14, a fixed block 19 is slidably connected to an output end of the second cylinder 15, a connecting rod 17 is fixedly connected to an end of an output end of the second cylinder 15, the connecting rod 17 is in an inverted hook structure, limiting plates 20 are movably connected to upper and lower ends of the fixed block 19, first rotating arms 16 are disposed on two sides of the second cylinder 15, the first rotating arms 16 are in an L-shaped structure, one end of each first rotating arm 16 is inserted into a corresponding limiting plate 20, a connecting block 31 is fixedly mounted at the other end of each first rotating arm 16, a second rotating arm 18 is fixedly mounted at the other end of each connecting block 31, the gripper 30 is fixedly mounted at one end of each second rotating arm 18, a cross rod 23 is movably connected between the two second rotating arms 18, the connecting rod 17 is pulled by the second cylinder 15 to move in a direction away from the tire, when the connecting rod 17 moves, one end of the first rotating arm 16 located in the limiting plate 20 is driven to push the limiting plate 20 to rotate on the limiting plate 20, the limiting plate 20 to rotate, the fixed block 19 moves along with a motion track of the output end of the second cylinder 15 until the first rotating arm 16, the first rotating arm is parallel to a right-angle position, and then the tire is clamped by the second rotating arm 16, and the gripper 30.

Furthermore, a limiting groove 21 is formed in the limiting plate 20, two ends of the limiting groove 21 are communicated with the outside, the first rotating arm 16 is located in the limiting groove 21 and slides, a clamping block 22 is fixedly installed at the tail end of the first rotating arm 16, the size of the clamping block 22 is larger than the opening size of the limiting groove 21, and the clamping block 22 on the first rotating arm 16 is clamped at one end of the limiting groove 21, so that the first rotating arm 16 cannot fall off in the limiting groove 21.

Furthermore, a protective column 24 is fixedly mounted at one end of the cross bar 23, and when the grippers 30 on the two sides clamp the tire, the protective column 24 on the rotating shaft 12 abuts against the rear side of the tire, so that the tire is clamped more stably and cannot fall off.

Further, turning device includes diaphragm 9, and fixed mounting has cylinder 5 on the curb plate 4, and the output fixed mounting of cylinder 5 has slip table 7, and diaphragm 9 fixed mounting is in the bottom department of slip table 7, and the below of diaphragm 9 is provided with two gears 11, and one side of gear 11 is in the inner wall of curb plate 4 through bearing swing joint, and the other end fixed mounting of gear 11 has pivot 12, and first cylinder 5 promotes diaphragm 9 and gos forward.

Further, the position department fixed mounting that corresponds slip table 7 on curb plate 4 has slide 6, the side cross-section of slide 6 is well font, slip table 7 is close to one side of slide 6 and has seted up recess 8, slip table 7 slides on slip table 7 through the recess 8 joint, diaphragm 9 slides on slide 6 through the slip table 7 on top, when diaphragm 9 removes, two gears 11 of lower extreme rotate under thrust, thereby drive roating seat 14 and rotate, promote once when cylinder 5, just in time the tire upset 90, start second cylinder 15 this moment, utilize same principle to put down the tire on second conveyer belt 26.

Furthermore, the bottom end of the transverse plate 9 is provided with a tooth groove 10, and the transverse plate 9 slides on the gear 11 through the tooth groove 10.

Further, the time for the second cylinder 15 to push the cross plate 9 to move once is exactly the time for the rotary seat 14 to rotate 90 °.

Furthermore, the other end of the rotating shaft 12 penetrates through the supporting seat 13 and is fixedly connected with the rotating seat 14, and the rotating shaft 12 is movably connected with the supporting seat 13 through a bearing.

Further, a connecting column a32 is fixedly connected to the front surface of the base 1, a slide rail a33 is fixedly connected to the front end of the connecting column a32, the slide rail a33 is located on the rear side of the upper surface of the first conveyor belt 25, a channel is formed in the upper surface of the slide rail a33, a spring a34 is fixedly connected to the right inner wall of the channel, a slide column a35 is fixedly connected to the left end of the spring a34, in an initial state, the slide column a35 is located at the left end of the channel, a cross rod a36 is fixedly connected to the upper end of the slide column a35, the middle of the cross rod a36 is connected to the slide column a35, the cross rod a36 and the infrared sensor 29 are located on the same horizontal plane, in an initial state, the cross rod a36 faces the infrared sensor 29 on the left side, a blocking rod a37 is fixedly connected to the lower side of the middle of the front surface of the cross rod a36, the blocking rod a37 is as wide as the first conveyor belt 25, a bottom plate a38 is fixedly connected to the lower end of the right surface of the blocking rod a37, the bottom plate a38 is located above the first conveyor belt 25, the upper surface of the bottom plate a38 is fixedly connected to the left and right convex seats 39 are fixedly connected to the left convex seats, two convex seats 39, the right convex seats 39 a seats, the upper surface of the two convex seats 39 are uniformly inclined convex seats, the upper surface of the two convex seats 39 a seats, the two convex seats 39, the upper surface of the two convex seats which are uniformly inclined convex seats 39 a seats which are respectively; fixedly connected with crossbeam a41 between the two legs of front side of first conveyer belt 25, crossbeam a41 is in the top of second conveyer belt 26, crossbeam a41 is in the below of first conveyer belt 25, crossbeam a 41's front surface middle part fixedly connected with fore-set a42, there is pivot a43 front end through spring axle swing joint of fore-set a42, pivot a43 keeps away from that one side fixedly connected with guide board a44 of fore-set a42, guide board a44 slope sets up, the rear side of guide board a44 flushes with first conveyer belt 25 upper surface, the even fixedly connected with vibrations ball a45 of front end lower surface equidistance of guide board a44, cover a46 has been cup jointed to the outside of second conveyer belt 26 is fixed, cover a 46's surface unevenness, vibrations ball a45 contacts cover a46 surface.

The working principle is as follows: when two tires pass through the infrared sensor 29, the infrared sensor 29 transmits information to the first motor 27, so that the first motor 27 stops rotating, at this time, the first conveyor belt 25 stops rotating, the second cylinder 15 is started, the second cylinder 15 pulls the connecting rod 17 to move in a direction away from the tires, because the first rotating arm 16 is movably connected with the connecting rod 17, when the connecting rod 17 moves, one end of the first rotating arm 16 located in the limiting plate 20 is driven to push the limiting plate 20 to rotate on the fixing block 19, the fixing block 19 moves along with the motion track of the output end of the second cylinder 15, until the first rotating arm 16 is parallel to the position of the limiting plate 20 at a right angle, the fixing block 22 on the first rotating arm 16 is clamped at one end of the limiting groove 21, so that the first rotating arm 16 cannot fall off in the limiting groove 21, when the first rotating arm 16 rotates at a right angle, the second rotating arm 18 rotates towards the position of the tire until the gripper 30 clamps the tire to clamp the tire, when the grippers 30 on both sides clamp the tire, the protective columns 24 on the rotating shaft 12 are abutted against the rear side of the tire, so that the tire clamped does not fall off, the first rotating arm 9, when the first rotating cylinder 9 slides on the sliding table 5, the sliding cylinder 9, when the sliding cylinder 9 starts, the sliding mechanism of the sliding table 5 moves, the sliding plate 9, the sliding plate 5, and the sliding plate 5, when the sliding cylinder 9 rotates, the sliding cylinder 9, the sliding plate 9 rotates, the sliding plate 9, when the sliding plate 5 rotates, the sliding plate 9 rotates, when the sliding plate 5 rotates, the sliding cylinder 14 rotates, the sliding plate 14 rotates, and the sliding plate 14 rotates.

When the tire from left side first conveyer belt 25 on, the tire on right side can contact in advance and promote pin a37 to the right side, thereby make the tire drive horizontal pole a36 and move together, make the tire on right side pass through left infrared inductor 29 under the sheltering from of horizontal pole a36, and the tire on right side can drive horizontal pole a36 and further move to the right, thereby make left infrared inductor 29 lose the sheltering from, after left tire reachd left infrared inductor 29, alright this moment in order to be detected by infrared inductor 29, stop first conveyer belt 25 and move, make the device detect two tires simultaneously like this, the detection speed of device has been increased.

Through the design of pin a37, after the tire on right side arrived the infrared ray inductor 29 on right side position, traveller a35 collided the right-hand member of slide rail a33 this moment, no matter there was left tire to arrive left infrared ray inductor 29 department or not this moment, the tire on right side all can be blockked by pin a37 and fix a position the infrared ray inductor 29 on right side motionless, make the opportunity that testing personnel placed two tires about like this can be more random, improved the transmission fault tolerance of device.

When the rotating base 14 drives the tire to rotate ninety degrees for the first time, the tire is separated from the stop lever a37, the stop lever a37 is reset under the existence of the spring a34, after the tire rotates for a circle and returns, the stop lever a39 is the boss a39 when the tire rotates, through the inclined design of the boss a39, the tire is pushed down from the hand grip 30 by the boss a39 when returning, and is inclined forwards under the guiding of the boss a39 and enters the guide plate a44, through the contact of the vibration ball a45 and the uneven surface of the cover sleeve a46, the guide plate a44 is enabled to vibrate continuously, the tire is guided to be gradually transmitted to the cover sleeve a46, and the tire is transmitted away through the movement of the second conveyor belt 26, the tire blanking automation is improved, and the tire transmission accuracy is improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a tire centre gripping manipulator is used in production, includes base (1), its characterized in that: the utility model discloses a mechanical arm device, including base (1), bottom fixed mounting of base (1) has supporting legs (2), the bottom fixed mounting of supporting legs (2) has wheel (3), top one side fixed mounting of base (1) has curb plate (4), the top opposite side symmetry fixed mounting of base (1) has supporting seat (13), the front side fixed mounting of supporting seat (13) has infrared inductor (29), be provided with roating seat (14) on supporting seat (13), be provided with manipulator device on roating seat (14), be provided with the turning device of drive manipulator device upset on curb plate (4).

2. The tire gripping robot for production as set forth in claim 1, wherein: the front side of base (1) is provided with first conveyer belt (25), one side fixed mounting of first conveyer belt (25) has first motor (27) of its operation of drive, the opposite side of first conveyer belt (25) is provided with second conveyer belt (26), one side fixed mounting of second conveyer belt (26) has second motor (28) of its operation of drive.

3. The tire gripping robot for production as set forth in claim 1, wherein: the manipulator device comprises a gripper (30), a second cylinder (15) is fixedly mounted on a rotating seat (14), a fixing block (19) is connected to the output end of the second cylinder (15) in a sliding mode, a connecting rod (17) is fixedly connected to the tail end of the output end of the second cylinder (15), the connecting rod (17) is of a barb-shaped structure, limiting plates (20) are movably connected to the upper end and the lower end of the fixing block (19) in a penetrating mode, first rotating arms (16) are arranged on the two sides of the second cylinder (15), the first rotating arms (16) are of an L-shaped structure, one ends of the first rotating arms (16) are inserted into the corresponding limiting plates (20), a connecting block (31) is fixedly mounted at the other end of the first rotating arms (16), a second rotating arm (18) is fixedly mounted at the other end of the connecting block (31), the gripper (30) is fixedly mounted at one end of the second rotating arm (18), and a cross rod (23) is movably connected between the two second rotating arms (18).

4. A tyre gripping manipulator for production as claimed in claim 2, wherein: limiting groove (21) have been seted up to the inside of limiting plate (20), and the both ends of limiting groove (21) are linked together with the external world, first rotation arm (16) are located limiting groove (21) and slide, the terminal fixed mounting of first rotation arm (16) has fixture block (22), the size of fixture block (22) is greater than the opening size of limiting groove (21).

5. A tyre gripping manipulator for production as claimed in claim 2, wherein: one end of the cross rod (23) is fixedly provided with a protective column (24).

6. The tire gripping robot for production as set forth in claim 1, wherein: turning device includes diaphragm (9), fixed mounting has first cylinder (5) on curb plate (4), the output fixed mounting of first cylinder (5) has slip table (7), diaphragm (9) fixed mounting is in the bottom department of slip table (7), the below of diaphragm (9) is provided with two gears (11), one side of gear (11) is passed through bearing swing joint in the inner wall of curb plate (4), the other end fixed mounting of gear (11) has pivot (12).

7. The tire clamping manipulator for production as claimed in claim 6, wherein: the utility model discloses a sliding table, including curb plate (4), slide (7) and recess (8), the position department fixed mounting that corresponds slip table (7) on curb plate (4) has slide (6), the side cross-section of slide (6) is well font, one side that slip table (7) are close to slide (6) is seted up flutedly (8), slip table (7) slide on slip table (7) through recess (8) joint.

8. The tire gripping robot for production as set forth in claim 6, wherein: tooth grooves (10) are formed in the bottom end of the transverse plate (9), and the transverse plate (9) slides on the gear (11) through the tooth grooves (10).

9. The tire gripping robot for production as set forth in claim 6, wherein: the other end of the rotating shaft (12) penetrates through the supporting seat (13) and is fixedly connected with the rotating seat (14), and the rotating shaft (12) is movably connected with the supporting seat (13) through a bearing.

10. The tire clamping manipulator for production as claimed in claim 2, wherein: the infrared induction device comprises a base (1), a connecting column a (32) is fixedly connected to the front surface of the base (1), a sliding rail a (33) is fixedly connected to the front end of the connecting column a (32), the sliding rail a (33) is located on the rear side of the upper surface of a first conveying belt (25), a channel is formed in the upper surface of the sliding rail a (33), a spring a (34) is fixedly connected to the right inner wall of the channel, a sliding column a (35) is fixedly connected to the left end of the spring a (34), a cross rod a (36) is fixedly connected to the upper end of the sliding column a (35), the middle of the cross rod a (36) is connected to the sliding column a (35), the cross rod a (36) and an infrared inductor (29) are located on the same horizontal plane, a coating for absorbing infrared rays is coated on the rear surface of the cross rod a (36), a blocking rod a (37) is fixedly connected to the lower side of the middle of the front surface of the cross rod a (36), the blocking rod a (37) and the first conveying belt (25) are as wide as the first conveying belt, a bottom plate a (38) is fixedly connected to the bottom plate (38), the upper surface of the two convex seats (39 a) are respectively connected to the left and right bases (39 a) of the two convex bases (39 a), the upper surface of the boss a (39) inclines from the right rear to the left front, and convex balls a (40) are fixedly connected to the upper surface of the boss a (39) at equal intervals;

fixedly connected with crossbeam a (41) between the two legs of front side of first conveyer belt (25), crossbeam a (41) are in the top of second conveyer belt (26), crossbeam a (41) are in the below of first conveyer belt (25), the front surface middle part fixedly connected with fore-set a (42) of crossbeam a (41), there is pivot a (43) through spring shaft swing joint at the front end of fore-set a (42), pivot a (43) keep away from that one side fixedly connected with guide board a (44) of fore-set a (42), guide board a (44) slope sets up, the rear side of guide board a (44) flushes with first conveyer belt (25) upper surface, the even fixedly connected with vibrations ball a (45) of the front end lower surface equidistance of guide board a (44), cover a (46) has been cup jointed to the outside of second conveyer belt (26) is fixed, the surface unsmooth of cover a (46), vibrations ball a (45) contact cover a (46) surface.

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