CN105966909B - A kind of robot automatic loading and unloading green tire system - Google Patents
A kind of robot automatic loading and unloading green tire system Download PDFInfo
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- CN105966909B CN105966909B CN201610539607.6A CN201610539607A CN105966909B CN 105966909 B CN105966909 B CN 105966909B CN 201610539607 A CN201610539607 A CN 201610539607A CN 105966909 B CN105966909 B CN 105966909B
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- green tire
- buffer area
- limit track
- loading
- support arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0273—Tires
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
A kind of robot automatic loading and unloading green tire system, comprising: green tire stores vehicle, thereon hinged storing board；Entrance buffer area, middle part buffer area and outlet buffer area limit track；Green tire loading and unloading platform comprising loading mechanization arm, grabbing assembly；Automatic spraying machine, automatic spraying machine are set to the side of middle part buffer area limit track；Traction device is slidably disposed in the outside of three limit tracks；Panel assembly is lifted, lift panel assembly is set to the both ends of middle part buffer area limit track, is provided with the pallet elevator tool hand for carrying out lift plate operation to storing board；Control device with control function.The present invention is loaded transport to green tire using green tire storage vehicle, mechanization draw operations are realized using traction device, the devices such as setting lift panel assembly, green tire loading and unloading platform complete green tire storage vehicle and carry out the operations such as lift plate, green tire handling at the link position of track, and the present invention realizes mechanized operation from the storage of green tire, transhipment and spraying.
Description
Technical field
The present invention relates to tire production manufacturing technology fields, more specifically, in particular to a kind of robot automatic loading and unloading
Green tire system.
Background technique
As intelligence manufacture has become the important trends and core content of the following development of manufacturing, intelligence manufacture is tradition
The direction of manufacturing industry transition and upgrade, intelligent plant will lead manufacturing future.
In order to retain its competitive edge, the major Tire production enterprise in the whole world takes the behave for reducing cost one after another in recent years, and
Reducing labour cost and being recognized is most direct, most effective method.Based on this, global tire giant is in production logistics automation side
Face puts into huge fund construction in succession or improves its related system, and in the process, robot replaces the trend of people also gradually to highlight.
By robot, enterprise can not only reduce labor cost, improve production efficiency, but also energy consumption can be effectively reduced and reduce dirty
Dye.Although robot applied at present in industrial automation it is very extensive, it is also considerably less in field of tire production.
Summary of the invention
(1) technical problem
In conclusion how a kind of processing system that automation transhipment, spraying operation can be carried out for green tire is provided, at
For those skilled in the art's urgent problem to be solved.
(2) technical solution
The present invention provides a kind of robot automatic loading and unloading green tire system, which is specifically included:
Green tire stores vehicle, and the green tire storage vehicle includes main body of vehicle frame, is hinged on the main body of vehicle frame for filling
The storing board for carrying green tire, is provided with traveling wheel in the bottom of the main body of vehicle frame；
Entrance buffer area limit track, the entrance buffer area limit track include two the first rails disposed in parallel
Road；
Middle part buffer area limit track, the middle part buffer area limit track include two the second rails disposed in parallel
Road；
Buffer area limit track is exported, the outlet buffer area limit track includes two third rails disposed in parallel
Road；
Green tire loading and unloading platform, the green tire loading and unloading platform include loading mechanization arm, in the loading mechanization arm
Working end is provided with one for grabbing the grabbing assembly of green tire, there are two the green tire loading and unloading platform includes, described in two
The both ends that green tire loading and unloading platform is divided into the middle part buffer area limit track are used for the handling of green tire, the entrance buffer area
Limit track is arranged in parallel with the outlet buffer area limit track and is oppositely arranged with the green tire loading and unloading platform；
Automatic spraying machine, the automatic spraying machine include conveyer belt and the spraying dress for being set to the conveyer belt side
It sets, the entrance buffer area limit track and the outlet buffer area limit track are set to the middle part buffer area limit track
Side, the conveyer belt is set to the other side of the middle part buffer area limit track；
Traction device, the traction device is slidably disposed in the entrance buffer area limit track, the middle part is delayed
The outside of area's limit track and the outlet buffer area limit track is deposited, the traction device includes claw, the claw
Vehicle clamping can be stored with the green tire；
Panel assembly is lifted, the lift panel assembly is set to the both ends of the middle part buffer area limit track, the middle part caching
Area's limit track includes the mounting rack being vertically arranged, in being slidably provided on the mounting rack for the storing board
Carry out the pallet elevator tool hand of lift plate operation；
Control device with control function, the control device and the green tire loading and unloading platform, the automatic spraying
Machine, the traction device and lift panel assembly signal connection.
Preferably, in the present invention:
In being provided with the first idler wheel, the first idler wheel phase being arranged on two first tracks on first track
To setting；
In being provided with the second idler wheel, the second idler wheel phase being arranged on two second tracks on second track
To setting；
In being provided with third idler wheel, the third idler wheel phase being arranged on two third tracks on the third track
To setting.
Preferably, the grabbing assembly includes:
Main stand, the main stand connect with the loading mechanization arm, are provided on the downside of the main stand
Mounting rack is swung, mounting base is provided on the upside of the main stand, the first power device is provided in the mounting base, in
Setting is there are two the second power device on the swing mounting rack, in being provided with anti-motive force device on the main stand；
Support arm assembly, the support arm assembly include first support arm, intermediate support arm and second support arm, the first support arm
And the second support arm is divided into the two sides of the intermediate support arm, the intermediate support arm and the first power device power connect
It connects, first power device is for driving the intermediate support arm to be moved forward and backward, the first support arm and the second support arm
It is connect respectively with two second power devices, the anti-motive force device can offset with the intermediate support arm；
Jaw components, the jaw components include fixture block, and the fixture block use is vertically arranged mode and is fixedly installed on institute
State the downside of first support arm, the intermediate support arm and the second support arm.
Preferably, in the present invention: the traction device includes:
Sliding rail, in being provided with the sliding rack being slidably connected with it on the sliding rail, in being provided with third on the sliding rack
Driving device, the third driving device includes shaft, and the shaft passes through the sliding rack and is arranged towards the sliding rail, in
It is provided with rack gear on the sliding rail, in being provided with the driving gear engaged with the rack gear in the shaft, the sliding rack is logical
The first driving device is crossed to slide on the sliding rail；
Tractor, the tractor include fourth drive device and the claw, the claw have for life
Tire stores the clamp and interconnecting piece of vehicle clamping, and the clamp is set on the interconnecting piece, the interconnecting piece and the sliding
Frame is hinged, and the interconnecting piece is connected by power with the fourth drive device, and the fourth drive device is for driving the connection
Portion is rotated on the sliding rack.
Preferably, in the present invention: the lift panel assembly includes:
Panel turnover device, the panel turnover device include the 5th driving device and the pallet elevator tool hand, the 5th driving dress
It sets and is fixedly connected with the mounting rack, the pallet elevator tool hand is connected by power with the 5th driving device；
Limit track, the limit track are vertically arranged on the mounting rack, the pallet elevator tool hand and the limit
Track is slidably connected.
Preferably, the invention also includes there is green tire to store automobile-used transferring device, the green tire stores automobile-used transferring device
The both ends of the middle part buffer area limit track are set to, the green tire stores automobile-used transferring device and is used for the entrance buffer area
Limit track and the middle part buffer area limit track be connected and for the outlet buffer area limit track with it is described in
The linking of portion's buffer area limit track,
The green tire stores automobile-used transferring device
Chassis, in being provided with a liter act cylinder on the chassis, the liter is lifted and is equipped with lifting platform on cylinder, and the liter is lifted
Platform lifts cylinder in moving up and down on vertical direction by the liter, interconnecting piece is provided on the lifting platform, in the company
Swivel bearing is provided in socket part, the swivel bearing includes inner ring and outer ring, and the inner ring is fixed with the interconnecting piece
Connection；
Rotary components, the rotary components include the 6th driving device, and the 6th driving device and the outer ring connect
It connects, for driving the outer ring to rotate, the 6th driving device is set under the lifting platform the 6th driving device
Side is simultaneously fixedly connected with the lifting platform；
Transferring platform, the transferring platform are fixedly connected with the outer ring and can be with the outer ring rotatings.
Preferably, the invention also includes there is counter, the counter is set to the middle part buffer area limit track
Both ends for being counted to the handling quantity of green tire, the counter is connect with the control device signal.
Preferably, the invention also includes there is a visual monitoring component, the visual monitoring component include monitoring camera with
And warning device, the monitoring camera are used to obtain the image information in target area, the monitoring camera and the control
For sending image information to the control device, the warning device and the control device signal connect for device signal connection processed
It connects.
Preferably, the visual monitoring component includes two sets, wherein a set of visual monitoring component is disposed in proximity to
The lower section of the green tire loading and unloading platform at the entrance buffer area limit track, the another set of visual monitoring component setting
In the top of the green tire loading and unloading platform at the outlet buffer area limit track；The visual monitoring component is used for
Judge whether the lift plate normally starts or fall, if abnormal, is alarmed by the warning device；Its judgment method are as follows:
Acquisition standard lift plate starts or the image that land is as comparison basis image, by the image obtained by the visual monitoring component letter
Breath compares text with comparison basis image, judges lift plate mistake occur if inconsistent, controls institute by the control device
Warning device is stated to sound an alarm.
(3) beneficial effect
Robot automatic loading and unloading green tire system provided by the invention stores vehicle pair using green tire by said structure design
Green tire is loaded transport, and green tire using green tire storage vehicle while being transported, entrance buffer area limit provided by the invention
Position track, middle part buffer area limit track, outlet buffer area limit track can store vehicle to green tire and carry out transport limit, utilize
Mechanization draw operations of the green tire storage vehicle in above-mentioned three sections of tracks may be implemented in traction device.Meanwhile in three sections of tracks
It is provided with the devices such as lift panel assembly, green tire loading and unloading platform at link position, vehicle can be stored to green tire and carries out lift plate, green tire dress
The operation such as unload, automatic spraying operation may be implemented in green tire in automatic spraying machine.Storage, transhipment and spray of the present invention from green tire
Painting realizes mechanized operation.
Detailed description of the invention
Fig. 1 is the structure diagram of robot automatic loading and unloading green tire system in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram that green tire stores vehicle in the embodiment of the present invention；
Fig. 3 is the partial structural diagram of green tire loading and unloading platform in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of traction device in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram that panel assembly is lifted in the embodiment of the present invention；
Fig. 6 is the structural schematic diagram that green tire stores automobile-used transferring device in the embodiment of the present invention；
In Fig. 1 into Fig. 6, the corresponding relationship of component names and accompanying drawing number are as follows:
Green tire stores vehicle 1, main body of vehicle frame 11, storing board 12；
Green tire loading and unloading platform 2, grabbing assembly 22, main stand 221, swings mounting rack 222, the at loading mechanization arm 21
One power device 223, the second power device 224, anti-motive force device 225, first support arm 226, intermediate support arm 227, second
Arm 228, fixture block 229；
Automatic spraying machine 3, conveyer belt 31, spray equipment 32；
Traction device 4, claw 41；
Lift panel assembly 5, mounting rack 51, pallet elevator tool hand 52；
Green tire stores automobile-used transferring device 6, rises and lift cylinder 61, lifting platform 62, swivel bearing 63, transferring platform 64；
Entrance buffer area limit track a, middle part buffer area limit track b, outlet buffer area limit track c.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following embodiment is used for
Illustrate the present invention, but cannot be used to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 is please referred to Fig. 6, wherein Fig. 1 is the structure letter of robot automatic loading and unloading green tire system in the embodiment of the present invention
Figure；Fig. 2 is the structural schematic diagram that green tire stores vehicle in the embodiment of the present invention；Fig. 3 is green tire loading and unloading in the embodiment of the present invention
The structural schematic diagram of platform；Fig. 4 is the structural schematic diagram of traction device in the embodiment of the present invention；Fig. 5 is to lift in the embodiment of the present invention
The structural schematic diagram of panel assembly；Fig. 6 is the structural schematic diagram that green tire stores automobile-used transferring device in the embodiment of the present invention.
The present invention provides a kind of robot automatic loading and unloading green tire system, the system green tire can be carried out automatic loading and unloading,
Green tire storage vehicle 1 is drawn automatically, to complete the automatic spraying operation of green tire.
In the present invention, green tire storage vehicle 1 has been specifically included, it includes main body of vehicle frame 11, vehicle frame master which, which stores vehicle 1,
Body 11 has the metal material compared with high structural strength by being welded using angle bar or steel pipe etc..It is cut with scissors on main body of vehicle frame 11
It is connected to the storing board 12 for loading green tire, the bottom of main body of vehicle frame 11 is provided with traveling wheel.Main body of vehicle frame 11 uses frame body
Structure design, is hinged with storing board 12, the purpose of this design is: depositing after green tire is placed on storing board 12 on it
It puts plate 12 and keeps horizontality under the gravity of green tire, after green tire is unloaded by mechanical arm, storing board 12 can pass through machine
Tool device passively bounces, or is bounced automatically by components such as springs, and it is empty to provide operation in this way for next layer of green tire crawl
Between.
In one embodiment of the invention, the two sides of main body of vehicle frame 11 are arranged in using symmetric mode for storing board 12, this
Sample can make 11 uniform force of main body of vehicle frame, and avoiding green tire storage vehicle 1, there is a situation where turn on one's side.
In the present invention, entrance buffer area limit track a, middle part buffer area limit track b, outlet caching have been specifically included
Area limit track c, wherein entrance buffer area limit track a includes two the first tracks disposed in parallel；Middle part buffer area limit
Position track b includes two the second tracks disposed in parallel；Outlet buffer area limit track c includes two articles disposed in parallel the
Three tracks.Above-mentioned three tracks are designed at U-shaped structure, on the position of two orbital dockings, are stored by setting green tire automobile-used
Transferring device 6 realizes the transfer and rotation of green tire storage vehicle 1.
Entrance buffer area limit track a, middle part buffer area limit track b, outlet buffer area limit track c pass through two
Parallel arrangement of track is constituted, such green tire storage vehicle 1 be sandwiched in two tracks (specially the first track, the second track and
Third track) in, the advantages of green tire storage vehicle 1 is limited between two tracks, which designs are as follows: 1, guarantee multiple green tires
Vehicle 1 is stored to move ahead, turn in an orderly manner；2, the case where position-limiting action of the green tire storage vehicle 1 by track is not in sideslip；3,
Traction device 4 is set on the outside of track, installation can be provided for traction device 4 and guided.
It is stored in order to avoid green tire and hard collision occurs between vehicle 1 and track, the present invention is provided with rolling in the inside of track
It takes turns (having specifically included the first idler wheel, the second idler wheel and third idler wheel), idler wheel is preferably made of rubber, in this way, passing through
The buffer function of idler wheel can occur to avoid the case where above-mentioned hard collision.In addition, square using can be rotated between idler wheel and track
Formula connection can store vehicle 1 by the rotation of idler wheel for green tire and provide mobile guide.
In the present invention, green tire loading and unloading platform 2 is specifically included, which includes loading mechanization arm
21, one is provided with for grabbing the grabbing assembly 22 of green tire in the working end of loading mechanization arm 21, and green tire loading and unloading platform 2 wraps
There are two including, the both ends that two green tire loading and unloading platforms 2 are divided into middle part buffer area limit track b are used for the handling of green tire, enter
Mouth buffer area limit track a is arranged in parallel with outlet buffer area limit track c and is oppositely arranged with green tire loading and unloading platform 2.Dress
Unloading mechanical arm 21 can be using robot device used in the prior art, in this way, can be carried out certainly by mechanical arm to green tire
Dynamicization loading, unloading.In the present invention, mechanical arm uses the mechanical arm of achievable Article handling commonly used in the prior art, specific
Structure is no longer repeated herein.
In order to make the present invention be suitable for the crawl of green tire, the working end of loading mechanization arm 21 is provided with one and is used for
The grabbing assembly 22 of green tire is grabbed, grabbing assembly includes: main stand 221, and main stand is connect with loading mechanization arm, in main body
The downside of rack 221, which is provided with, swings mounting rack 222, and mounting base is provided on the upside of main stand, is provided in mounting base
First power device 223, in swinging setting on mounting rack, there are two the second power devices 224, anti-in being provided on main stand
Motive force device 225, anti-motive force device can offset with intermediate support arm 227；Support arm assembly, support arm assembly include first support arm
226, intermediate support arm 227 and second support arm 228, first support arm and second support arm are divided into the two sides of intermediate support arm, intermediate
Support arm and the first power device be connected by power, the first power device is for driving intermediate support arm to be moved forward and backward, first support arm and
Second support arm is connected by power with two the second power devices respectively, and can be moved left and right relative to intermediate support arm；Jaw components, card
Claw assembly includes fixture block 229, and fixture block is fixedly installed on first support arm, intermediate support arm and second using the mode that is vertically arranged
The downside of arm.
When in use, the top of green tire, then, loading mechanization arm are moved to by the drive grabbing assembly 22 of loading mechanization arm 21
21 declines are until grabbing assembly 22 (specially fixture block 229 is inserted into green tire hole) is inserted into hole possessed by green tire；Then,
Second support arm in grabbing assembly 22 is displaced outwardly so that the fixture block 229 and the inner edge of green tire that are arranged on two support arms offset, so
Intermediate support arm moves backward and the fixture block 229 on intermediate support arm is offseted with green tire afterwards, in this way, grabbing assembly 22 passes through fixture block
229 pairs of green tires provide the expansionary force extended out, to realize the fixation between grabbing assembly 22 and green tire；Connect finally by mechanical arm
Green tire is transported in the station of a next procedure with grabbing assembly 22, completes the operation of the handling of green tire.
In the present invention, automatic spraying machine 3 is specifically included, which includes conveyer belt 31 and be set to
It is slow that the spray equipment 32 of 31 side of conveyer belt, entrance buffer area limit track a and outlet buffer area limit track c are set to middle part
The side of area limit track b is deposited, conveyer belt 31 is set to the other side of middle part buffer area limit track b, above-mentioned automatic spraying
The set-up mode of machine 3 can reduce occupied area of the invention.In the present invention, automatic spraying machine 3 includes to turn rod delivery system
Perhaps belt conveyor system turns rod transportation system or belt conveyor system using U-shaped structure design to system, and green tire is placed into green tire
It is transported in entrance buffer area limit track a on storage vehicle 1, then passes through the clamping of loading mechanization arm 21 to automatic spraying machine 3
Turn rod transportation system perhaps turning to be provided with spraying on the upside of rod transportation system or belt conveyor system on belt conveyor system
Device 32, green tire slowly move on turning rod transportation system or belt conveyor system, spray equipment 32 can to green tire into
Row spraying operation, while green tire is mobile, green tire is stored vehicle 1 (blank state) and is then transported from middle part buffer area limit track b
To the outlet position buffer area limit track c, after green tire sprays, handling robot is recycled to be loaded into green tire storage one by one
On vehicle 1.
Specifically, in the present invention, which is slidably disposed in entrance buffer area limit track a, middle part is delayed
It deposits area limit track b and exports the outside of buffer area limit track c, traction device 4 includes claw 41, and claw 41 can be with life
Tire is stored vehicle 1 and is clamped.The headstock of green tire storage vehicle 1 or parking stall position are provided with the card slot cooperated with claw 41, in this way,
Claw 41 can be positioned in card slot, to realize that the connection between traction device 4 and green tire storage vehicle 1 passes through traction later
Device 4 drives green tire storage vehicle 1 to move in limit track.
In the present invention, lift panel assembly 5 is set to the both ends of middle part buffer area limit track b, middle part buffer area position-limited rail
Road b includes mounting rack 51, in be slidably provided on mounting rack 51 for storing board 12 carry out lift plate operation lift plate
Manipulator 52.Storing board 12 is carried out lift plate using lift panel assembly 5 to operate, behaviour can be provided for the green tire grasping manipulation of mechanical arm
Make space.
Control device has control function, with green tire loading and unloading platform 2, automatic spraying machine 3, traction device 4 and lift
The connection of 5 signal of panel assembly.The coordinated control between multiple mechanical equipments can be completed by control device, common completion green tire
Mechanized operation processing.
Robot automatic loading and unloading green tire system provided by the invention is right using green tire storage vehicle 1 by said structure design
Green tire is loaded transport, and green tire using green tire storage vehicle 1 while being transported, entrance buffer area limit provided by the invention
Position track a, middle part buffer area limit track b, outlet buffer area limit track c can store vehicle 1 to green tire and carry out transport limit,
Mechanization draw operations of the green tire storage vehicle 1 in above-mentioned three sections of tracks may be implemented using traction device 4.Meanwhile at three sections
It is provided with the devices such as lift panel assembly 5, green tire loading and unloading platform 2 at the link position of track, vehicle 1 can be stored to green tire and lifted
Automatic spraying operation may be implemented in operation, the green tires such as plate, green tire handling in automatic spraying machine 3.The present invention from the storage of green tire,
Transhipment and spraying realize mechanized operation.
Specifically, traction device 4 includes: sliding rail, in being provided with the sliding rack being slidably connected with it on sliding rail, in sliding rack
On be provided with third driving device, third driving device includes shaft, and shaft passes through sliding rack and is arranged towards sliding rail, in sliding rail
On be provided with rack gear, in being provided with the driving gear being engaged with rack in shaft, sliding rack is by first driving device in sliding rail
Upper sliding；Tractor, tractor include fourth drive device and claw 41, and claw 41 has for storing vehicle 1 with green tire
The clamp and interconnecting piece of clamping, clamp are set on interconnecting piece, and interconnecting piece is hinged with sliding rack, and interconnecting piece and the 4th driving fill
It sets and is connected by power, fourth drive device is for being drivingly connected portion in rotating on sliding rack.
Specifically, lift panel assembly 5 includes: mounting rack 51, and mounting rack 51 is vertically arranged；Panel turnover device, panel turnover device include
Five driving devices and pallet elevator tool hand, the 5th driving device are fixedly connected with mounting rack 51, pallet elevator tool hand and the 5th driving
Device is connected by power；Limit track, limit track are vertically arranged on mounting rack 51, and pallet elevator tool hand and limit track sliding connect
It connects.
Specifically, green tire stores automobile-used transferring device 6, and green tire stores automobile-used transferring device 6 and is set to middle part buffer area limit
The both ends of position track b, for being connected and for exporting for entrance buffer area limit track a and middle part buffer area limit track b
Buffer area limit track c is connected with middle part buffer area limit track b's, and green tire stores automobile-used transferring device 6 and includes:
Chassis rises in being provided with a liter act cylinder 61 on chassis and is equipped with lifting platform 62, lifting platform 62 on act cylinder 61
Cylinder 61 is lifted in moving up and down on vertical direction by liter, interconnecting piece is provided on lifting platform 62, in being provided on interconnecting piece
Swivel bearing 63, swivel bearing 63 include inner ring and outer ring, and inner ring is fixedly connected with interconnecting piece；Rotary components, rotation group
Part includes the 6th driving device, and the 6th driving device is connect with outer ring, and the 6th driving device is for driving outer ring to rotate, and the 6th
Driving device is set to 62 downside of lifting platform and is fixedly connected with lifting platform 62；Transferring platform 64, transferring platform 64 and outer
Circle is fixedly connected and can be with outer ring rotating.
In order to carry out accurate counting to green tire, the present invention also provides counter, counter is set to middle part buffer area limit
For counting to the handling quantity of green tire, counter is connect with control device signal at the both ends of position track b.
Two sets of visual monitoring components are additionally provided in the present invention, and visual monitoring component includes monitoring camera and report
Alarm device, monitoring camera are used to obtain the image information in target area, monitor camera with control device signal and connect use
In sending image information to control device, warning device is connect with control device signal.Visual monitoring component includes two sets,
In a set of visual monitoring component be disposed in proximity to the lower section of the green tire loading and unloading platform at entrance buffer area limit track, it is another set of
Visual monitoring component is disposed in proximity to the top of the green tire loading and unloading platform at outlet buffer area limit track；Visual monitoring component
For judging to lift whether plate normally starts or fall, if abnormal, alarmed by warning device；Its judgment method are as follows: obtain
Standard lift plate starts or the image that lands is as comparison basis image, by the image information obtained by visual monitoring component with compare
Benchmark image compares text, judges lift plate mistake occur if inconsistent, issues police by control device control warning device
Report.
It selects suitable station to be fixed monitoring camera, carries out trial operation after monitoring camera fixes,
After monitoring camera normal operation, green tire storage vehicle is transferred in monitoring region by operator and carries out correctly lift plate behaviour
Make, and correct lift plate is obtained by monitoring camera or falls the image information of plate, which is comparison basis image.Work as system
When bringing into operation, the image information in monitoring region is obtained by monitoring camera, and believe by the image that control device will acquire
Breath compares with comparison basis image, if image is consistent, decision-making system normal operation controls if image is inconsistent
Warning device is alarmed.
In the present invention, preferred embodiment are as follows: driving device (has specifically included first driving device, the second driving
The 6th driving device of device ... ..) according to its usage mode difference, can using servo motor, stepper motor, hydraulic cylinder and
Cylinder.
Workflow of the invention are as follows:
Firstly, operator will be pushed into the first workshop section equipped with green tire storage vehicle 1 to be sprayed: it is slow that green tire stores 1 entrance of vehicle
Area is deposited, and is arranged successively green tire storage vehicle 1 in buffer area, green tire stores 1 entrance buffer area of vehicle by two the first parallel limits
Position track constitute, entrance positioning mechanism is provided on the first limit track, using entrance positioning mechanism to green tire store vehicle 1 into
Row locking positioning avoids green tire storage vehicle 1 that mistake displacement and rotation occurs；Automatic traction dress is provided in the outside of limit track
Set 4, automatic traction device 4 runs to the station position of green tire storage vehicle 1 from standby position, then drags green tire and stores vehicle 1 to the
Two workshop sections.
Second workshop section is entrance lift rotary area, and major function is to realize the rotation of green tire storage vehicle 1, is gone up and down in entrance
Tow-away zone is provided with green tire storage 1 lift rotary working table of vehicle, and green tire storage 1 lift rotary working table of vehicle includes lifting locking
Device, the locking device are used to lock in green tire storage vehicle 1, rise and lift cylinder 61 for entire tire roof, motor drives whirler
Structure is rotated by 90 ° counterclockwise, and jacking cylinder falls to elemental height, to complete the rotation of green tire storage vehicle 1；Vehicle is stored in green tire
The side of 1 lift rotary working table is provided with green tire storage vehicle 1 and lifts drop shutter device automatically, has green tire storage vehicle 1 to lift drop automatically
Shutter device advances under horizontal air cylinder effect, and three groups of blinds are lifted the triangle neutral gear position that drop pawl protrudes into green tire storage 1 blinds of vehicle
Set, then into arrive third workshop section.
Third workshop section is that entrance unloads tire robot workspace, and a handling robot is provided in workspace, is being loaded and unloaded
The mechanical arm tail end of robot is provided with an automatic loading and unloading green tire fixture, and the automatic loading and unloading green tire fixture is for grabbing life
Tire.After green tire storage vehicle 1 is transported to third workshop section, handling robot obtains signal and starts to act, and utilizes automatic loading and unloading green tire
Tire is grabbed one by one with fixture, and is put to spraying equipment entrance conveyer belt, and conveyer belt puts the induction of fetal position optoelectronic switch
To after there is tire, start to start, tire is delivered in spraying host and completes to spray, until unsnatching all tire.In this process
In, tire mold vehicle to be sprayed push-in green tire can be stored 1 entrance buffer area of vehicle, entrance automatic traction device successively by operator
4 can successively draw green tire storage vehicle 1 to the second workshop section.It is finished when the green tire on a green tire storage vehicle 1 all grabs, then
Into the 4th workshop section.
4th workshop section is lateral trolley towing area, and the green tire on green tire storage vehicle 1, which is crawled, to be finished, and green tire stores 1 liter of vehicle
The lifting locking device for dropping back to revolving worktable, which falls, unclamps green tire storage vehicle 1, stores vehicle 1 to green tire using lateral traction mechanism
It is drawn, after spraying equipment completes spraying to green tire, is successively successively transported out tire, in spraying mechanism discharge conveyor
Then tire is loaded on green tire storage vehicle 1, to complete green tire spraying operation by the end of structure using handling robot.
5th workshop section is exit lifting tow-away zone, and in the workspace, green tire stores vehicle 1 and enters operating position, outlet dress tire
Robot start from crawl in the centering agency for spraying out oral instructions and sending end of tape it is fixed in the green tire completed.Note: 1, the system is arranged
Tally function, i.e. entrance Xie Tai robot lays down how many tires, and outlet Zhuan Tai robot will load how many tires, really
Protecting tire will not wrongly installed vehicle；2, vision system is mounted in entry and exit tow-away zone, for judging whether tire vehicle blinds falls, or
It in off-normal position, is fallen if there is blinds, vision system tells robot to go to lift hundred as the eyes of people
Leaf, then handling tire is removed, it is truly realized intelligent production.After installing the wheel tire, Zhuan Tai robot Aligning control position, then
Using the outlet traction output of automatic traction device 4, lifting locking device unclamps, and outlet traction mechanism will be filled with the tire of spraying number
Mold vehicle draws to the green tire storage vehicle 1 of the 6th workshop section and exports buffer area, and to behind outlet port, operator can should for traction
Vehicle pulls out, at this point, completing the production cycle of the first vehicle.
The embodiment of the present invention is given for the purpose of illustration and description, and is not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Selecting and describe embodiment is and to make those skilled in the art to more preferably illustrate the principle of the present invention and practical application
It will be appreciated that the present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (7)
1. a kind of robot automatic loading and unloading green tire system characterized by comprising
Green tire stores vehicle (1), and the green tire storage vehicle includes main body of vehicle frame (11), is used in being hinged on the main body of vehicle frame
The storing board (12) for loading green tire, is provided with traveling wheel in the bottom of the main body of vehicle frame；
Entrance buffer area limit track (a), the entrance buffer area limit track include two the first tracks disposed in parallel；
Middle part buffer area limit track (b), the middle part buffer area limit track include two the second tracks disposed in parallel；
It exports buffer area limit track (c), the outlet buffer area limit track includes two third tracks disposed in parallel；
Green tire loading and unloading platform (2), the green tire loading and unloading platform includes loading mechanization arm (21), in the loading mechanization arm
Working end be provided with one for grabbing the grabbing assembly of green tire, there are two the green tire loading and unloading platform includes, two institutes
State handling of the both ends for green tire that green tire loading and unloading platform is divided into the middle part buffer area limit track, the entrance caching
Area's limit track is arranged in parallel with the outlet buffer area limit track and is oppositely arranged with the green tire loading and unloading platform；
Automatic spraying machine (3), the automatic spraying machine include conveyer belt (31) and the spray for being set to the conveyer belt side
Coating device (32), the entrance buffer area limit track and the outlet buffer area limit track are set to the middle part buffer area
The side of limit track, the conveyer belt are set to the other side of the middle part buffer area limit track；
Traction device (4), the traction device are slidingly arranged at the entrance buffer area limit track, the middle part buffer area
The outside of limit track and the outlet buffer area limit track, the traction device includes claw (41), the claw
Vehicle clamping can be stored with the green tire；
It lifts panel assembly (5), the lift panel assembly is set to the both ends of the middle part buffer area limit track, the middle part buffer area
Limit track includes the mounting rack (51) being vertically arranged, in being slidably provided on the mounting rack for the storing board
Carry out the pallet elevator tool hand (52) of lift plate operation；
Control device with control function, the control device and the green tire loading and unloading platform, the automatic spraying machine, institute
State traction device and lift panel assembly signal connection；
The grabbing assembly includes:
Main stand (221), the main stand connect with the loading mechanization arm, are provided on the downside of the main stand
It swings mounting rack (222), mounting base is provided on the upside of the main stand, the first driving dress is provided in the mounting base
(223) are set, there are two the second driving device (224) in setting on the swing mounting rack, are provided on the main stand
Anti- motive force device (225)；
Support arm assembly, the support arm assembly include first support arm (226), intermediate support arm (227) and second support arm (228),
The first support arm and the second support arm are divided into the two sides of the intermediate support arm, and the intermediate support arm and described first drive
Dynamic device is connected by power, the first driving device is for driving the intermediate support arm to be moved forward and backward, the first support arm and
The second support arm is connect with two second driving devices respectively, and the anti-motive force device can be with the intermediate support arm
It offsets；
Jaw components, the jaw components include fixture block (229), and the fixture block use is vertically arranged mode and is fixedly installed on institute
State the downside of first support arm, the intermediate support arm and the second support arm；
The lift panel assembly includes:
Panel turnover device, the panel turnover device include the 5th driving device and the pallet elevator tool hand, the 5th driving device with
The mounting rack is fixedly connected, and the pallet elevator tool hand is connected by power with the 5th driving device；
Limit track, the limit track are vertically arranged on the mounting rack, the pallet elevator tool hand and the limit track
It is slidably connected.
2. robot automatic loading and unloading green tire system according to claim 1, which is characterized in that
In being provided with the first idler wheel on first track, first idler wheel being arranged on two first tracks is opposite to be set
It sets；
In being provided with the second idler wheel on second track, second idler wheel being arranged on two second tracks is opposite to be set
It sets；
In being provided with third idler wheel on the third track, the third idler wheel being arranged on two third tracks is opposite to be set
It sets.
3. robot automatic loading and unloading green tire system according to claim 1, which is characterized in that
The traction device includes:
Sliding rail drives in being provided with the sliding rack being slidably connected with it on the sliding rail in being provided with third on the sliding rack
Device, the third driving device includes shaft, and the shaft passes through the sliding rack and is arranged towards the sliding rail, in described
Rack gear is provided on sliding rail, in being provided with the driving gear engaged with the rack gear in the shaft, the sliding rack passes through the
Three driving devices are slided on the sliding rail；
Tractor, the tractor include fourth drive device and the claw, and the claw has for depositing with green tire
The clamp and interconnecting piece of vehicle clamping are put, the clamp is set on the interconnecting piece, and the interconnecting piece and the sliding rack are cut with scissors
Connect, the interconnecting piece is connected by power with the fourth drive device, the fourth drive device for drive the interconnecting piece in
It is rotated on the sliding rack.
4. robot automatic loading and unloading green tire system according to claim 1, which is characterized in that
It further include thering is green tire to store automobile-used transferring device (6), it is slow that the automobile-used transferring device of the green tire storage is set to the middle part
Deposit the both ends of area's limit track, the green tire store automobile-used transferring device for the entrance buffer area limit track and it is described in
The linking of portion's buffer area limit track and for the outlet buffer area limit track and the middle part buffer area limit track
Linking,
The green tire stores automobile-used transferring device
Chassis, in being provided with liter act cylinder (61) on the chassis, the liter is lifted to be equipped with lifting platform (62) on cylinder, described
Lifting platform lifts cylinder in moving up and down on vertical direction by the liter, interconnecting piece is provided on the lifting platform, in institute
It states and is provided on interconnecting piece swivel bearing (63), the swivel bearing includes inner ring and outer ring, the inner ring and the company
Socket part is fixedly connected；
Rotary components, the rotary components include the 6th driving device, and the 6th driving device is connect with the outer ring, institute
The 6th driving device is stated for driving the outer ring to rotate, the 6th driving device be set on the downside of the lifting platform and with
The lifting platform is fixedly connected；
Transferring platform (64), the transferring platform are fixedly connected with the outer ring and can be with the outer ring rotatings.
5. robot automatic loading and unloading green tire system according to any one of claims 1 to 4, which is characterized in that
It further include having counter, the both ends that the counter is set to the middle part buffer area limit track are used for the dress to green tire
It unloads quantity to be counted, the counter is connect with the control device signal.
6. robot automatic loading and unloading green tire system according to claim 1, which is characterized in that
It further include having visual monitoring component, the visual monitoring component includes monitoring camera and warning device, the prison
It surveys camera to be used to obtain the image information in target area, the monitoring camera connect with the control device signal and is used for
Image information is sent to the control device, the warning device is connect with the control device signal.
7. robot automatic loading and unloading green tire system according to claim 6, which is characterized in that
The visual monitoring component includes two sets, wherein a set of visual monitoring component is disposed in proximity to the entrance caching
The lower section of the green tire loading and unloading platform at area's limit track, the another set of visual monitoring component be disposed in proximity to it is described go out
The top of the green tire loading and unloading platform at mouth buffer area limit track；
The visual monitoring component, if abnormal, passes through the report for judging whether the lift plate normally starts or fall
Alarm device alarm；
Its judgment method are as follows: acquisition standard lift plate starts or the image that lands is as comparison basis image, will be supervised by the vision
It surveys the image information that component obtains to compare with comparison basis image, judges lift plate mistake occur if inconsistent, by institute
The control device control warning device is stated to sound an alarm.
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| CN201610539607.6A CN105966909B (en) | 2016-07-11 | 2016-07-11 | A kind of robot automatic loading and unloading green tire system |
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| CN201610539607.6A CN105966909B (en) | 2016-07-11 | 2016-07-11 | A kind of robot automatic loading and unloading green tire system |
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| CN105966909B true CN105966909B (en) | 2019-01-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3526020B1 (en) * | 2016-10-11 | 2020-11-04 | Pirelli Tyre S.p.A. | Method and apparatus for handling green tyres |
| CN109940912A (en) * | 2017-12-21 | 2019-06-28 | 北京橡胶工业研究设计院有限公司 | A kind of automatic Load System of molding machine green tire |
| CN109867109B (en) * | 2019-02-25 | 2021-10-08 | 珠海格力智能装备有限公司 | Method and device for determining working mode of conveying line, storage medium and processor |
| CN110435741A (en) * | 2019-08-13 | 2019-11-12 | 天津工程机械研究院有限公司 | A kind of lift automatically puts trolley shutter mechanism |
| CN110980160A (en) * | 2019-12-16 | 2020-04-10 | 天津工程机械研究院有限公司 | Automatic business turn over logistics line of platform truck U-shaped |
| CN113263087A (en) * | 2021-05-13 | 2021-08-17 | 东风柳州汽车有限公司 | Binding workstation |
| CN118683910B (en) * | 2024-08-23 | 2024-10-22 | 四川省怀德建设工程有限公司 | Material conveying device for building construction |
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| JPH0740462A (en) * | 1993-07-30 | 1995-02-10 | Mitsubishi Heavy Ind Ltd | Apparatus for forming bead for tire |
| CN203306638U (en) * | 2013-05-29 | 2013-11-27 | 长城汽车股份有限公司 | Automatic conveying device of welded workpieces |
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