CN108147138B - Tire pile up neatly location auxiliary device - Google Patents
Tire pile up neatly location auxiliary device Download PDFInfo
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- CN108147138B CN108147138B CN201711392694.8A CN201711392694A CN108147138B CN 108147138 B CN108147138 B CN 108147138B CN 201711392694 A CN201711392694 A CN 201711392694A CN 108147138 B CN108147138 B CN 108147138B
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/11—Stacking of articles by adding to the top of the stack the articles being stacked by direct action of the feeding conveyor
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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
- B65G47/22—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
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Tyre Moulding (AREA)
Abstract
The invention discloses a tire stacking and positioning auxiliary device which is arranged at the output end of a tire conveying device and comprises a frame body, a conveying part arranged on the frame body, a positioning detection mechanism arranged at one end of the frame body, which is far away from the tire conveying device, and a guide mechanism arranged on the frame body and used for guiding a tire so as to enable the tire to be guided and conveyed to the position of the positioning detection mechanism, wherein the conveying part and the positioning detection mechanism are electrically connected with a main control device of a robot stacking machine. The tire stacking positioning auxiliary device can complete longitudinal and transverse accurate positioning of a tire, so that the accurate positioning is consistent with a mechanical hand grabbing position arranged in the robot stacking machine, and the tire can be guaranteed to be grabbed every time, and subsequent stacking work is facilitated.
Description
Technical Field
The invention relates to a tire stacking and positioning auxiliary device, in particular to a tire stacking and positioning auxiliary device for positioning and assisting tires before grabbing assembled tires before a robot stacker crane performs stacking.
Background
In the traditional technology, after the tires are assembled in an assembly line, the tires are manually placed at a certain position of a workshop so as to be conveniently stacked by a robot stacker crane. This kind of mode, comparatively extravagant manpower, efficiency is extremely low to position positioning error is big, and when the location is not just punctual, the mechanism hand of robot hacking machine then can not snatch the tire, appears the mistake like this and snatchs, pile up neatly inefficiency scheduling problem.
Disclosure of Invention
In view of the above, the present invention is to provide a tire stacking and positioning auxiliary device that positions a tire after the tire comes out of an assembly line so that a robot stacker can accurately grasp the tire.
The utility model provides a tire pile up neatly location auxiliary device locates tire conveyor's output, includes the support body, locates conveying part on the support body, locate keep away from on the support body the location detection mechanism of tire conveyor's one end and locating just be used for leading to the tire on the support body so that the tire is guided and carried extremely the guiding mechanism of location detection mechanism position department, conveying part and location detection mechanism all with the master control unit electricity of robot pile up neatly machine is connected.
Furthermore, the frame body is provided with two parallel top cross frames which are positioned on the same horizontal plane;
the conveying part comprises a plurality of first rollers arranged between the two top crossbearers at intervals along the length direction of the top crossbearers, and two ends of each first roller are respectively and vertically connected with the two top crossbearers; the conveying part also comprises a driving part for driving the first roller to rotate so as to convey the tire to the position of the positioning detection mechanism, and the conveying part is electrically connected with the main control device;
the first rollers of the conveying part and the second rollers of the tire conveying device are positioned on the same plane and are parallel to each other, and one of the first rollers of the conveying part, which is close to the output end of the tire conveying device, is connected with the second rollers;
one end, close to the tire conveying device, of the conveying part is connected with a second roller on the tire conveying device, and one end, far away from the tire conveying device, of the conveying part is located on the inner side face of the positioning detection mechanism.
Furthermore, the frame body is also provided with a top longitudinal frame, and two ends of the top longitudinal frame are respectively connected with the rear ends of the two top transverse frames far away from the tire conveying device; the positioning detection mechanism comprises a first positioning detection mechanism arranged on the top longitudinal frame and a second positioning detection mechanism arranged on one end, close to the top longitudinal frame, of a second top transverse frame of the two top transverse frames;
the first positioning detection mechanism comprises a first mounting structure vertically arranged on the top longitudinal frame, a first push plate arranged on the first mounting structure and capable of swinging along the tire conveying direction, a first shielding part arranged on the outer side surface, far away from the conveying part, of the first push plate, and a first sensor arranged at a position, corresponding to the first shielding part, of the top longitudinal frame; when the first push plate is pushed outwards by the tire, the first sensor detects a corresponding first signal and sends the corresponding first signal to the main control device, and the main control device controls the driving part to stop according to the first signal sent by the first sensor and enables the tire to move to the second positioning detection mechanism.
Further, the first mounting structure comprises a first upright post vertically arranged on the top longitudinal frame, a first mounting rod horizontally extending from the top end of the first upright post to the conveying part direction, and a first swing rod pivoted to the front end of the first mounting rod facing to the conveying part direction and capable of swinging along the tire conveying direction; the first push plate is arranged on the first swing rod and can swing along the length direction of the frame body.
Furthermore, two first mounting lugs are arranged at the front end of the first mounting rod, first through holes are respectively formed in the two first mounting lugs, two ends of a first pivot shaft respectively penetrate through the first through holes in the two first mounting lugs, and the length direction of the first pivot shaft is parallel to the length direction of the top longitudinal frame; the upper end of the first swing rod is provided with a first pivot hole, and the first pivot hole penetrates through the first pivot and is located between the two first mounting lugs.
Furthermore, the first mounting structures are at least two groups, the at least two groups of first mounting structures are arranged at intervals along the length direction of the top longitudinal frame, and the first push plate is connected with the first swing rods of the at least two groups of first mounting structures, so that the first push plate is arranged on the first mounting structures along the length direction of the top longitudinal frame.
Furthermore, the second positioning detection mechanism comprises a second mounting structure vertically arranged at one end, close to the top longitudinal frame, of a second top cross frame of the two top cross frames, a second push plate arranged on the second mounting structure and capable of swinging in a direction perpendicular to the second top cross frame, a second shielding part arranged on the second push plate and far away from the outer side surface of the first top cross frame of the two top cross frames, and a second sensor arranged on the second top cross frame and corresponding to the second shielding part; when the tire is moved to the position of the second push plate and the second push plate is pushed outwards, the second sensor detects a corresponding second signal and sends the second signal to the main control device, and the main control device controls the robot stacker crane to grab the tire according to the second signal sent by the second sensor.
Furthermore, the second mounting structure comprises a second upright post vertically arranged on the second top cross frame, a second mounting rod horizontally extending from the top end of the second upright post to the first top cross frame, and a second swing rod pivoted to the front end of the second mounting rod facing to the first top cross frame and capable of swinging in the direction perpendicular to the second top cross frame; the second push plate is arranged on the second swing rod and can swing along the width direction of the frame body.
Furthermore, two second mounting lugs are arranged at the front end of the second mounting rod, second through holes are respectively formed in the two second mounting lugs, two ends of a second pivot shaft respectively penetrate through the second through holes in the two second mounting lugs, and the length direction of the second pivot shaft is parallel to that of the second top cross frame; and a second pivot hole is formed in the upper end of the second swing rod, and the second pivot hole penetrates through the second pivot and is positioned between the two second mounting lugs.
Furthermore, the second mounting structures are at least two groups, the at least two groups of second mounting structures are arranged at intervals along the length direction of the second top transverse frame, and the second push plate is connected with the second swing rods of the at least two groups of second mounting structures, so that the second push plate is arranged on the second mounting structures along the length direction of the top longitudinal frame.
The tire stacking and positioning auxiliary device is characterized in that a frame body is provided with a conveying part connected with a tire conveying device, tires can be smoothly moved to the conveying part after being assembled, the tires are guided to a position matched with a first positioning detection mechanism through two first guide groups and a second guide group which are arranged on two sides of the frame body and are close to the tire conveying device, so that the tires can be accurately conveyed to the position of the first positioning detection mechanism by the conveying part, the first positioning detection mechanism can detect the tires, when the tires are detected by the first positioning detection mechanism, a first signal is sent to a main control device, the main control device controls the tires to move to the position of the second positioning detection mechanism, and therefore, the longitudinal and transverse accurate positioning of the tires is finished, and the accurate positioning is consistent with the grabbing position of a manipulator arranged in a robot stacker, therefore, the tire can be grabbed every time, and subsequent stacking work is facilitated.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the tire stacking and positioning auxiliary device of the present invention.
Fig. 2 is a perspective view of another perspective view of fig. 1.
Fig. 3 is an enlarged view of a portion a of fig. 2.
Fig. 4 is a perspective view of still another perspective view of fig. 1.
Fig. 5 is an enlarged view of a portion B in fig. 4.
Fig. 6 is a schematic view of the structure of the transplanting mechanism.
Fig. 7 is a schematic view of the combination of the transplanting mechanism and the frame body.
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 and 5, the auxiliary tire stacking and positioning device provided in the invention is disposed at an output end of a tire conveying device, and includes a frame body 1, a conveying part 2 disposed on the frame body 1, a positioning detection mechanism disposed on the frame body 1 at an end far from the tire conveying device, and a guide mechanism 4 disposed on the frame body 1 and used for guiding a tire so as to guide and convey the tire to a position of the positioning detection mechanism, wherein the conveying part 2 and the positioning detection mechanism are electrically connected to a main control device of the robot stacker crane.
The tire conveying device is a tire assembly line, the starting end of the tire conveying device is the starting point of tire assembly, the finishing end of the tire conveying device is the output end of the tire after the tire is assembled and formed, a plurality of automatic devices are arranged in the conveying process of the tire conveying device to automatically assemble the tire, and the tire assembly line belongs to the existing conventional means, so the detailed description is omitted.
The frame body 1 comprises a rectangular bottom frame 10, four vertical frames 12 vertically arranged at four corner positions of the rectangular bottom frame 10 and a top frame 14 arranged at the upper ends of the four vertical frames 12. The underframe 10 comprises a first underframe transverse frame 101 and a second underframe transverse frame 102 which are positioned on the same horizontal plane and are parallel to each other, a first underframe longitudinal frame 103 connected to one end (front end) of the first underframe transverse frame 101 and the second underframe transverse frame 102 close to the tire conveying device, and a second underframe longitudinal frame 104 connected to one end (rear end) of the first underframe transverse frame 101 and the second underframe transverse frame 102 far away from the tire conveying device, wherein the length of the first underframe transverse frame 101 is equal to that of the second underframe transverse frame 102, the length of the first underframe longitudinal frame 103 is equal to that of the second underframe longitudinal frame 104, and the length of the first underframe transverse frame 101 and the length of the second underframe transverse frame 102 are greater than that of the first underframe longitudinal frame 103 and the second underframe longitudinal frame 104. The four vertical frames 12 are respectively vertically arranged at two ends of the first bottom transverse frame 101 and the second bottom transverse frame 102. The top frame 14 includes a first top cross frame 141 located above and parallel to the first bottom cross frame 101, a second top cross frame 142 located above and parallel to the second bottom cross frame 102, and a top longitudinal frame 143 connected to one end (rear end) of the first top cross frame 141 and the second top cross frame 142 away from the tire conveying device, where the first top cross frame 141, the second top cross frame 142, and the top longitudinal frame 143 are all located on the same horizontal plane. The two ends of the first top cross frame 141 are respectively connected with the top ends of the two vertical frames 12 at the two ends of the first bottom cross frame 101, and the second top cross frame 142 is respectively connected with the top ends of the two vertical frames 12 at the two ends of the first bottom cross frame 101. The lengths of the first top cross frame 141 and the second top cross frame 142 are matched with the lengths of the first bottom cross frame 101 and the second bottom cross frame 102, and the length of the top longitudinal frame 143 is matched with the length of the second bottom longitudinal frame 104. In summary, the length direction of the frame body 1 corresponds to or coincides with the tire conveying direction.
The conveying part 2 comprises a plurality of first rollers 21 arranged between two top cross frames at intervals along the length direction of the top cross frames, and two ends of each first roller 21 are respectively vertically connected with the two top cross frames and can rotate around the axis of the first roller; the tire conveying device is characterized in that the first rollers 21 of the conveying part 2 and the second rollers of the tire conveying device are located on the same plane and are parallel to each other, a first roller 21 close to the output end of the tire conveying device is connected with the second rollers (namely, a parallel distance between a first roller 21 of the second roller and the second roller is matched with a distance between every two adjacent first rollers 21) in the first rollers 21 of the conveying part 2, and therefore the assembled and molded tire can smoothly transit to the conveying part 2. One end of the conveying part 2 close to the tire conveying device is connected with a second roller on the tire conveying device, and one end of the conveying part 2 far away from the tire conveying device is located on the inner side face of the positioning detection mechanism.
The conveying part 2 further comprises a driving part (not shown) for driving the first roller 21 to rotate so as to convey the tire to the position of the positioning detection mechanism, and the driving part is electrically connected with the main control device. The first rollers 21 can rotate around the axes under the driving of the driving part, and when the tire is conveyed from the output end of the tire conveying device to the front end of the conveying part 2, the tire is driven to move to the positioning detection mechanism at the rear end of the frame body 1 through the self-rotation of each first roller 21.
In this embodiment, a tire sensor (not shown) for detecting the tire is disposed at an end position on the frame body 1 close to the tire conveying device, when the tire is conveyed to the front end of the conveying part 2 by the tire conveying device, the tire sensor detects a tire signal and sends the tire signal to the main control device, and the main control device controls the driving part to drive the first roller 21 to rotate.
The positioning detection mechanism is used for positioning the tire and sending a positioning detection signal to the main control device. The positioning detection mechanism comprises a first positioning detection mechanism 5 arranged on the top longitudinal frame 143 and a second positioning detection mechanism 6 arranged on the second top transverse frame 142 and close to one end of the top longitudinal frame 143. Wherein:
the first positioning detection mechanism 5 comprises a first mounting structure 51 erected on the top longitudinal frame 143, a first push plate 52 arranged on the first mounting structure 51 and capable of swinging back and forth along the length direction of the frame body 1, a first shielding portion 53 arranged on the rear side surface of the first push plate 52 far away from the conveying portion 2, and a first sensor 54 arranged on the top longitudinal frame 143 at a position corresponding to the first shielding portion 53; when the first push plate 52 is pushed backward by the tire, the first sensor 54 detects a corresponding first signal and sends the first signal to the main control device, and the main control device moves the tire to the second positioning detection mechanism 6 according to the first signal sent by the first sensor 54.
In this embodiment, the first mounting structures 51 are provided in two sets, and the two sets of first mounting structures 51 are provided at intervals along the longitudinal direction of the top vertical frame 143. Each of the two sets of first mounting structures 51 includes a first upright column 511 erected on the top longitudinal frame 143, a first mounting rod 512 horizontally extending from a top end of the first upright column 511 toward the conveying part 2, and a first swing rod 513 pivotally connected to a front end of the first mounting rod 512 toward the conveying part 2 and capable of swinging in a direction perpendicular to the top longitudinal frame 143; the first push plate 52 is provided on the first swing link 513 to be capable of swinging in a length direction of the frame body 1 (i.e., a tire conveying direction). In this embodiment, the first push plate 52 is connected to the first swing links 513 of the two sets of first mounting structures 51, so that the first push plate 52 is disposed on the first mounting structures 51 along the length direction of the top longitudinal frame 143. It is understood that in other embodiments, the first mounting structures 51 may be more than two sets.
Further, two first mounting lugs 515 are disposed at the front end of the first mounting rod 512, a first through hole 516 is disposed on each of the two first mounting lugs 515, two ends of a first pivot shaft are respectively inserted into the first through holes 516 on the two first mounting lugs 515, and the length direction of the first pivot shaft is parallel to the length direction of the top longitudinal frame 143; a first pivot hole (not shown) is formed at an upper end of the first swing link 513, and the first pivot hole is disposed through the first pivot and located between the two first mounting lugs 515.
In this embodiment, the first blocking portion 53 is a first blocking piece, a front end of the first blocking piece is vertically connected to a rear side surface of the first pushing plate 52, and a rear end of the first blocking piece extends horizontally and rearwardly. The first sensor 54 is a first proximity switch sensor, a detection end of the first proximity switch sensor is located on one side of the first stopper, and the detection end of the first sensor 54 is located behind the first stopper, that is, the detection end of the first proximity switch sensor is located behind the first stopper rather than right behind the first stopper. When the tire pushes the first push plate 52, the first stopper moves backwards to block the detection end of the first proximity switch sensor, the first proximity switch sensor sends a corresponding first signal to the main control device after detecting the first stopper, and the main control device controls the driving part of the conveying part 2 to stop driving after receiving the signal, so that the tire is fixed at the position of the first detection mechanism; and the main control device controls the tire to move to the position of the second positioning detection mechanism 6.
In this embodiment, a plurality of universal balls (eyelets) are disposed on a front side (i.e., an inner side) of the first push plate 52, and the universal balls are disposed in parallel along a length direction of the first push plate 52. When the main control device controls the corresponding mechanism to enable the tire to move to the position of the second positioning detection mechanism 6, the friction force between the tire and the first push plate 52 in direct contact can be reduced, and the universal ball can enable the tire to move better and more laborsavingly.
The second positioning detection mechanism 6 includes a second mounting structure 61 erected on the second top cross frame 142 at an end close to the top longitudinal frame 143, a second push plate arranged on the second mounting structure 61 and capable of swinging in a direction perpendicular to the second top cross frame 142, a second shielding portion 63 arranged on an outer side surface of the second push plate far from the first top cross frame 141, and a second sensor 64 arranged on the second top cross frame 142 at a position corresponding to the second shielding portion 63; when the tire is moved to the second push plate position and the second push plate is pushed outwards, the second sensor 64 detects a corresponding second signal and sends the second signal to the main control device, and the main control device controls the robot stacker crane to grab the tire according to the second signal sent by the second sensor 64.
In this embodiment, the second mounting structures 61 are two sets, and the two sets of second mounting structures 61 are arranged at intervals along the length direction of the second top cross frame 142. Each of the two sets of second mounting structures 61 includes a second upright post 611 erected on the second top cross frame 142, a second mounting rod 612 extending horizontally from the top end of the second upright post 611 to the direction of the first top cross frame 141, and a second swing rod 613 pivoted to the front end of the second mounting rod 612 facing the direction of the first top cross frame 141 and capable of swinging in the direction perpendicular to the second top cross frame 142; the second push plate is provided on the second swing link 613 so as to be swingable in the width direction of the frame body 1 (the longitudinal direction of the top vertical frame 143). In this embodiment, the second pushing plate is connected to the second swinging rods 613 of the two sets of second mounting structures 61, so that the second pushing plate is disposed on the second mounting structures 61 along the length direction of the second top cross frame 142. It is understood that in other embodiments, the second mounting structures 61 can be more than two sets.
Further, two second mounting lugs 615 are arranged at the front end of the second mounting rod 612, second through holes 616 are respectively formed in the two second mounting lugs 615, two ends of a second pivot shaft respectively penetrate through the second through holes 616 in the two second mounting lugs 615, and the length direction of the second pivot shaft is parallel to the length direction of the second top cross frame 142; a second pivot hole is formed at an upper end of the second swing link 613, and the second pivot hole is disposed through the second pivot and located between the two second mounting lugs 615.
In this embodiment, the second blocking portion 63 is a second block, a front end of the second block is vertically connected to the outer side surface of the second pushing plate, and a rear end of the second block extends horizontally and rearwardly. The second sensor 64 is a second proximity switch sensor, the detection end of the second proximity switch sensor is located on one side of the second stopper, and the detection end of the second sensor 64 is located behind the second stopper, that is, the detection end of the second proximity switch sensor is located behind the second stopper rather than behind the second stopper. When the tire pushes the second push plate, the second stopper moves backwards to block the detection end of the second proximity switch sensor, the second proximity switch sensor sends a corresponding second signal to the main control device after detecting the second stopper, and the main control device controls the manipulator of the robot stacker crane to grab the tire for stacking after receiving the signal.
It can be understood that, in other embodiments, the first positioning detection mechanism 5 may be directly disposed at a position on the top longitudinal frame 143 close to the second positioning detection mechanism 6, so that when the tire reaches the first positioning detection mechanism 5 and pushes the first push plate 52, the side edge of the tire also pushes the second push plate outwards at the same time, and thus, both the first positioning detection mechanism 5 and the second positioning detection mechanism 6 send the detected signal to the main control device to notify the main control device of the tire positioning information, and the main control device can drive the manipulator to grasp the tire after receiving the signal.
The guide mechanism 4 includes a first guide group 41 and a second guide group 42, which are symmetrically disposed on the first top cross frame 141 and the second top cross frame 142 at one end close to the tire conveying device.
The first guiding set 41 includes a first guiding plate 411 disposed on the first top cross frame 141 along the length direction of the first top cross frame 141 and close to one end of the tire conveying device, and a plurality of first guiding wheels 412 disposed on the upper surface of the first guiding plate 411 and close to the inner side thereof (toward the side of the second top cross frame 142). The inner side of the first guide plate 411 faces the direction of the first positioning detection mechanism 5 and inclines inwards (towards the direction of the second top cross frame 142), the plurality of first guide wheels 412 are arranged on the first guide plate 411 at intervals along the inner side direction of the first guide plate 411, so that the inclination of the first guide wheels 412 is matched with the inclination of the same side face of the first guide plate 411, and the inner side faces (inner rolling faces) of the plurality of first guide wheels 412 all exceed the inner side faces of the first guide plate 411.
The second guide group 42 and the first guide group 41 are symmetrically arranged on the second top cross frame 142, and the second guide group 42 includes a second guide plate 421 arranged on the second top cross frame 142 along the length direction of the second top cross frame 142 and close to one end of the tire conveying device, and a plurality of second guide wheels arranged on the upper surface of the second guide plate 421 and close to the inner side thereof (the side facing the first top cross frame 141). The inner side of the second guiding plate 421 faces the direction of the first positioning detecting mechanism 5 and inclines inward (toward the direction of the first top cross frame 141), and the plurality of second guiding wheels are arranged on the second guiding plate 421 at intervals along the inner side direction of the second guiding plate 421, so that the inclination of the second guiding wheels matches with the inclination of the same side face of the second guiding plate 421, and the inner side faces (inner rolling surfaces) of the plurality of second guiding wheels 422 all exceed the inner side face of the second guiding plate 421.
The distance between a first guide wheel 412 located at the rear end of the first guide plate 411 (the end close to the first positioning detection mechanism 5) and a second guide wheel 422 located at the rear end of the second guide plate 421 matches the diameter of the tire, and in the width direction of the frame body 1, the position of a first guide wheel 412 located at the rear end of the first guide plate 411 matches the position of one end of the first push plate 52 close to the first top cross frame 141, and the position of a second guide wheel 422 located at the rear end of the second guide plate 421 matches the position of one end of the second push plate close to the second top cross frame 142, so that when the tire passes through the two guide wheels at the rear ends of the first guide plate 411 and the second guide plate 421, since the positions of the first guide wheel 412 and the second guide wheel 422 at the rear ends of the corresponding guide plates match the positions of the two ends of the first push plate 52, after guiding, the position of the tire in the width direction of the frame body 1 is matched with the position of the first push plate 52, so that the tire can be guided and conveyed to the position of the first push plate 52.
In this embodiment, the first guiding set 41 further includes a third guiding wheel 413 disposed on the first top cross frame 141 and located at a front end position of the first guiding plate 411, and in the width direction of the frame body 1, the third guiding wheel 413 is slightly located at an outer side of a first guiding wheel 412 close thereto. The second guiding set 42 further includes fourth guiding wheels 423 symmetrically disposed on the second top cross frame 142, and the fourth guiding wheels 423 are slightly located outside a second guiding wheel 422 adjacent thereto in the width direction of the frame body 1.
In this embodiment, a drop-preventing structure is provided on the second top cross frame 142 at a position right opposite to the second positioning detection mechanism 6. The anti-falling structure is a rotating wheel arranged on the second cross frame at intervals, the height of the rotating wheel is matched with that of the tire to prevent the tire from falling off from the side, and the rotating wheel can rotate around the axis of the rotating wheel to reduce the friction force after contacting with the tire and facilitate the movement of the tire.
The tire stacking and positioning auxiliary device of the invention is characterized in that a frame body 1 is provided with a conveying part 2 connected with a tire conveying device, so that a tire can be smoothly moved onto the conveying part 2 after being assembled, the tire is guided to a position matched with a first positioning detection mechanism 5 through two first guide groups 41 and a second guide group 42 which are arranged on two sides of the frame body 1 and are close to the tire conveying device, so that the tire is accurately conveyed to the position of the first positioning detection mechanism 5 by the conveying part 2, the tire can be detected by the first positioning detection mechanism 5, when the tire is detected by the first positioning detection mechanism 5, a first signal is sent to a main control device, the main control device controls the tire to move to the position of a second positioning detection mechanism 6, thus, the longitudinal and transverse accurate positioning of the tire is completed, and the accurate positioning is consistent with the grabbing position of a manipulator arranged in a robot stacking machine, therefore, the tire can be grabbed every time, and subsequent stacking work is facilitated.
The main control device can control a transfer mechanism to move the tire to the position of the second positioning detection mechanism 6, can also control a pushing mechanism to push the tire to the position of the second positioning detection mechanism 6, can also control a shifting mechanism to shift the tire to the position of the second positioning detection mechanism 6, and the like. When a pushing mechanism is used, the second top cross frame 142 away from the second positioning detection mechanism 6 may be provided with the pushing mechanism, such as a pushing cylinder, a motor, a hydraulic cylinder, etc., as long as the tire can be pushed onto the second positioning detection mechanism 6. When the shift lever mechanism is adopted, a shift lever and a shift lever driving mechanism are designed at the position of the second top cross frame 142 far away from the second positioning detection mechanism 6, and the main control device controls the shift lever driving mechanism (such as a motor) to rotate the shift lever so that the shift lever pushes the tire to the position of the second positioning detection mechanism 6.
In one embodiment, the tire is moved from the current position (the position where the tire contacts the first push plate 52) to the position of the second positioning detection mechanism 6 by a transfer mechanism 7. In this embodiment, the frame body 1 is further provided with a first cross frame disposed in parallel below the first top cross frame 141, and a second cross frame disposed in parallel below the second top cross frame 142.
Referring to fig. 6 and 7, the first and second cross frames are used for mounting the transplanting mechanism 7, and the transplanting mechanism 7 is disposed on the first and second cross frames in a straddling manner, so that the transplanting mechanism 7 is disposed below the position of the output portion close to the first positioning detection mechanism 5 (i.e., directly below the position of the tire when the tire contacts the first push plate 52). The transplanting mechanism 7 can reciprocate along the width direction of the frame body 1 and can move up and down in the vertical direction to penetrate out of the output part to support the tire, so that the tire moves downwards after moving from the current position to the position of the second positioning detection mechanism 6 to retract below the conveying part 2. When the tire is touched with the second positioning detection mechanism 6 after being moved to the position of the second positioning detection mechanism 6, the second positioning detection mechanism 6 sends the second signal to the main control device, and the main control device receives the signal and then controls the robot stacker crane to grab the tire according to the set position.
The transplanting mechanism 7 comprises a rectangular frame 71, and the rectangular frame 71 is enclosed by the first and second opposite lateral side frames 711, 712, and the first and second opposite longitudinal side frames 713, 714. The first and second lateral frames 711 and 712 are fixed to the first and second lateral frames, respectively, such that the first and second longitudinal side frames 713 and 714 span therebetween.
The transplanting mechanism 7 further comprises a first slide rail 72 disposed on the first longitudinal side frame 713, a second slide rail 73 disposed on the second longitudinal side frame 714, a longitudinal slide plate 74 having two ends respectively sliding-fitted with the first slide rail 72 and the second slide rail 73, and a first driving mechanism (not shown in the figure) capable of driving the longitudinal slide plate 74 to reciprocate along the length directions of the two slide rails 72 and 73, wherein the longitudinal slide plate 74 can reciprocate along the longitudinal direction of the frame body 1 under the driving of the first driving mechanism. Wherein:
in this embodiment, the first longitudinal side frame 713 is provided with an installation platform having a triangular or trapezoidal cross section, the length of the installation platform is matched with the length of the first longitudinal side frame 713, and the cylindrical first slide rail 72 is integrally formed on the top surface of the installation platform. Symmetrically, an installation table with a triangular or trapezoidal cross section is arranged on the second longitudinal side frame 714, the length of the installation table is matched with that of the second longitudinal side frame 714, and a cylindrical second sliding rail 73 is integrally formed on the top surface of the installation table.
Corresponding to the first slide rail 72 and the second slide rail 73, sliders 741 slidably engaged with the cylindrical slide rails are respectively provided on lower surfaces of both ends of the longitudinal slide plate 74, and holes slidably mounted on the corresponding slide rails are provided at lower ends of the sliders 741. A connecting block connected to the driving rod 701 of the first driving mechanism is provided on the side of the longitudinal sliding plate 74 away from the second positioning detection mechanism 6. In this embodiment, the first driving mechanism is a first air cylinder installed on the frame body 1, and the driving rod 701 of the first air cylinder faces the direction of the second cross frame and is connected to the connecting block, so that the longitudinal slider 741 can be driven to reciprocate along the longitudinal direction of the frame body 1 (i.e., can move in the direction of the second cross frame and move in the direction away from the second cross frame).
The transplanting mechanism 7 further comprises a vertical moving plate 75 which is arranged on the longitudinal sliding plate 74 and can vertically move, and a second driving mechanism (not shown) for driving the vertical moving plate 75 to move up and down, wherein the vertical moving plate 75 is parallel to the longitudinal sliding plate 74.
In this embodiment, a central hole is formed in the central position of the longitudinal sliding plate 74, through which the driving rod 702 of the second driving mechanism penetrates upwards, and the top end of the driving rod 702 of the second driving mechanism penetrates through the central hole and is connected to the central position of the vertical moving plate 75. Four corners of the lower surface of the vertical moving plate 75 are respectively provided with a guide bar 751, four guide holes are formed in the longitudinal sliding plate 74 at positions corresponding to the four guide bars 751, and four guide roots of the vertical moving plate 75 respectively penetrate through the four guide holes downwards. The second driving mechanism is a second cylinder disposed on the lower surface of the longitudinal sliding plate 74, and a driving rod 702 of the second cylinder vertically penetrates the central hole upward and then is connected to the vertical moving plate 75.
The transplanting mechanism 7 further includes a plurality of brackets provided on the upper surface of the vertical moving plate 75 and capable of passing out of the output portion. In this embodiment, the brackets are four groups, each group of brackets is in a door shape, two side rods of each door-shaped bracket 76 are vertically arranged on the upper surface of the vertical moving plate 75, and the length direction of the top rods of the four door-shaped brackets 76 is parallel to the length direction of the first roller 21. The width between every two adjacent door-shaped brackets 76 is directly matched with the diameter of the first roller 21 and is slightly larger than the diameter of the first roller 21, and the width of each door-shaped bracket 76 in horizontal projection is smaller than the distance between every two adjacent first roller 21, so that each door-shaped bracket 76 can penetrate out of the output part upwards and retract downwards below the output part along with the vertical moving plate 75.
In this embodiment, the first driving mechanism and the second driving mechanism are both electrically connected to the main control device, and when the main control device receives a first signal sent by the first sensor 54 of the first positioning detection mechanism 5, the second driving mechanism is controlled to drive the vertical motion plate 75 to move upward, so that the door-shaped bracket 76 passes through the output portion upward, and the tire is lifted; when the tire is lifted to a predetermined position (which may be to the limit, or after a height sensor detects the lifting height of the tire), the main control device controls the first driving mechanism to drive the longitudinal sliding plate 74 to move towards the second positioning detection mechanism 6, so that the door-shaped bracket 76 moves towards the second positioning detection mechanism 6, when the second positioning detection mechanism 6 detects the tire, the second positioning detection mechanism 6 sends a second signal to the main control device, and the main control device receives the second signal and controls the second driving mechanism and the first driving mechanism to perform reset driving (i.e., the door-shaped bracket 76 is reset to the initial position).
In this embodiment, the lifting to the predetermined position may be a limit position of the lifting of the second cylinder, a height sensor (a photoelectric sensor) for detecting the lifting of the tire to the predetermined position is disposed on the frame body 1 (the first top cross frame 141 or the second top cross frame 142) at a position corresponding to the tire, and the height sensor is mainly used for acquiring that the second cylinder is lifted to the limit (or is called to lift the tire), and then sending a notification signal to the main control device, so that the main control device controls the driving rod 701 of the first cylinder to move to the position of the second positioning detection mechanism 6 according to the notification signal.
The maximum stroke of the driving rod 702 of the second air cylinder enables the tire to just touch the second positioning detection mechanism 6, so that the second positioning detection mechanism 6 can detect the tire.
The transplanting mechanism 7 of the embodiment can make the tire move to the position of the second positioning detection mechanism 6 after being detected by the first positioning detection mechanism 5, so as to be detected by the second positioning detection mechanism 6, and detect the position of the longitudinal and transverse directions of the tire through the two positioning detection mechanisms, so as to match the position of the tire in the robot stacker, and therefore the manipulator of the robot stacker can accurately grab the tire. This transplanting mechanism 7 design benefit under initial condition, makes it be located by tire current position after first location detection mechanism 5 detects under, and be located the below of conveying part 2, does not occupy any space above conveying part 2, only just upwards stretches out and removes the tire to the direction of second location detection mechanism 6 when removing the tire, ensures that the tire is detected by second location detection mechanism 6.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. The utility model provides a tire pile up neatly location auxiliary device locates tire conveyor's output, its characterized in that: the device comprises a frame body, a conveying part arranged on the frame body, a positioning detection mechanism arranged at one end of the frame body, which is far away from a tire conveying device, and a guide mechanism arranged on the frame body and used for guiding a tire so as to enable the tire to be guided and conveyed to the position of the positioning detection mechanism, wherein the conveying part and the positioning detection mechanism are electrically connected with a main control device of a robot stacker crane;
the frame body is provided with two parallel top cross frames which are positioned on the same horizontal plane; the frame body is also provided with a top longitudinal frame, and two ends of the top longitudinal frame are respectively connected with the rear ends of the two top transverse frames far away from the tire conveying device; the positioning detection mechanism comprises a first positioning detection mechanism arranged on the top longitudinal frame and a second positioning detection mechanism arranged on one end, close to the top longitudinal frame, of a second top transverse frame of the two top transverse frames;
the first positioning detection mechanism comprises a first mounting structure vertically arranged on the top longitudinal frame, a first push plate arranged on the first mounting structure and capable of swinging along the tire conveying direction, a first shielding part arranged on the outer side surface, far away from the conveying part, of the first push plate, and a first sensor arranged at a position, corresponding to the first shielding part, of the top longitudinal frame; when the first push plate is pushed outwards by the tire, the first sensor detects a corresponding first signal and sends the corresponding first signal to the main control device, and the main control device controls the conveying part to stop according to the first signal sent by the first sensor and enables the tire to move to the second positioning detection mechanism; the second positioning detection mechanism comprises a second mounting structure vertically arranged at one end, close to the top longitudinal frame, of a second top transverse frame of the two top transverse frames, a second push plate arranged on the second mounting structure and capable of swinging in a direction perpendicular to the second top transverse frame, a second shielding part arranged on the second push plate and far away from the outer side surface of the first top transverse frame of the two top transverse frames, and a second sensor arranged at a position, corresponding to the second shielding part, of the second top transverse frame; when the tire is moved to the position of the second push plate and the second push plate is pushed outwards, the second sensor detects a corresponding second signal and sends the second signal to the main control device, and the main control device controls the robot stacker crane to grab the tire according to the second signal sent by the second sensor.
2. The tire palletizing positioning assistance device as claimed in claim 1, wherein: the first mounting structure comprises a first upright post vertically arranged on the top longitudinal frame, a first mounting rod horizontally extending from the top end of the first upright post to the conveying part direction, and a first swing rod pivoted to the front end of the first mounting rod facing to the conveying part direction and capable of swinging along the tire conveying direction; the first push plate is arranged on the first swing rod and can swing along the length direction of the frame body.
3. The tire palletizing positioning assistance device as claimed in claim 2, wherein: two first mounting lugs are arranged at the front end of the first mounting rod, first through holes are formed in the two first mounting lugs respectively, two ends of a first pivot shaft penetrate through the first through holes in the two first mounting lugs respectively, and the length direction of the first pivot shaft is parallel to that of the top longitudinal frame; the upper end of the first swing rod is provided with a first pivot hole, and the first pivot hole penetrates through the first pivot and is located between the two first mounting lugs.
4. The tire palletizing positioning assistance device as claimed in claim 1, wherein: the first mounting structures are at least two groups, the at least two groups of first mounting structures are arranged along the length direction of the top longitudinal frame at intervals, and the first push plate is connected with the first swing rods of the at least two groups of first mounting structures, so that the first push plate is arranged on the first mounting structures along the length direction of the top longitudinal frame.
5. The tire palletizing positioning assistance device as claimed in claim 2, wherein: the second mounting structure comprises a second upright post vertically arranged on the second top transverse frame, a second mounting rod horizontally extending from the top end of the second upright post to the first top transverse frame, and a second swing rod pivoted to the front end of the second mounting rod facing to the first top transverse frame and capable of swinging in the direction perpendicular to the second top transverse frame; the second push plate is arranged on the second swing rod and can swing along the width direction of the frame body.
6. The tire palletizing positioning assistance device as claimed in claim 5, wherein: two second mounting lugs are arranged at the front end of the second mounting rod, second through holes are formed in the two second mounting lugs respectively, two ends of a second pivot shaft penetrate through the second through holes in the two second mounting lugs respectively, and the length direction of the second pivot shaft is parallel to that of the second top cross frame; and a second pivot hole is formed in the upper end of the second swing rod, and the second pivot hole penetrates through the second pivot and is positioned between the two second mounting lugs.
7. The tire palletizing positioning assistance device as claimed in claim 5, wherein: the second mounting structures are at least two groups, the at least two groups of second mounting structures are arranged along the length direction of the second top transverse frame at intervals, and the second push plate is connected with the second swing rods of the at least two groups of second mounting structures, so that the second push plate is arranged on the second mounting structures along the length direction of the top longitudinal frame.
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| CN201711392694.8A CN108147138B (en) | 2017-12-21 | 2017-12-21 | Tire pile up neatly location auxiliary device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711392694.8A CN108147138B (en) | 2017-12-21 | 2017-12-21 | Tire pile up neatly location auxiliary device |
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| CN108147138A CN108147138A (en) | 2018-06-12 |
| CN108147138B true CN108147138B (en) | 2020-07-14 |
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| CN201711392694.8A Active CN108147138B (en) | 2017-12-21 | 2017-12-21 | Tire pile up neatly location auxiliary device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112978234B (en) * | 2021-02-04 | 2022-12-16 | 宝武集团马钢轨交材料科技有限公司 | Automatic deviation rectifying and conveying device for rolled wheels and control method |
| CN113460629A (en) * | 2021-07-16 | 2021-10-01 | 江苏经贸职业技术学院 | Automatic stacking device for accounting book |
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