CN112499193B

CN112499193B - Tire assembly line

Info

Publication number: CN112499193B
Application number: CN202011383494.8A
Authority: CN
Inventors: 谭德; 龚理
Original assignee: Sany Construction Robot Xian Research Institute Co Ltd
Current assignee: Sany Construction Robot Xian Research Institute Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2022-07-29
Anticipated expiration: 2040-11-30
Also published as: CN112499193A

Abstract

The invention provides a tire assembly line, comprising: a destacking mechanism; the overturning mechanism is arranged at an outlet of the unstacking mechanism and is used for flanging at least part of the unstacked tire; the conveying mechanism enables the tires to pass through the unstacking mechanism and the turnover mechanism respectively; and the mounting mechanism is used for grabbing the tire passing through the turnover mechanism and mounting the tire on a vehicle to be assembled. The technical scheme of the invention solves the defects of low automation degree of the tire assembling process and high labor intensity of operators in the prior art.

Description

Tire assembly line

Technical Field

The invention relates to the technical field of assembly tools, in particular to a tire assembly line.

Background

The tires of the rear axle of the medium and heavy truck comprise the tires which are installed in the forward direction and the reverse direction, so that in the process of assembling the tires of the truck, operators are required to adjust the forward and reverse positions of the tires and carry the tires to an installation vacant position, the automation degree of the assembling process is low, and the labor intensity of the operators is high.

Disclosure of Invention

Therefore, the technical problem to be solved by the present invention is to overcome the defects of low automation degree and high labor intensity of operators in the prior art, and to provide a tire assembly line, comprising: a destacking mechanism; the overturning mechanism is arranged at an outlet of the unstacking mechanism and is used for flanging at least part of the unstacked tire; the conveying mechanism enables the tires to pass through the unstacking mechanism and the turnover mechanism respectively; and the mounting mechanism is used for grabbing the tire passing through the turnover mechanism and mounting the tire on a vehicle to be assembled.

Optionally, the conveying mechanism comprises: the first conveying line is communicated with an inlet of the unstacking mechanism; the second transfer chain sets up in the exit of mechanism of breaking a jam, and the second transfer chain configuration is to changing direction of delivery, third transfer chain and fourth transfer chain, and third transfer chain and fourth transfer chain set up respectively at the both ends of second transfer chain, and the third transfer chain is used for carrying the tire after breaking a jam, and the fourth transfer chain is used for carrying the bracket after breaking a jam, and wherein, tilting mechanism sets up on the route of third transfer chain.

Optionally, a turntable is arranged below the second conveying line, and the turntable drives the second conveying line to rotate so as to change the conveying direction of the second conveying line.

Optionally, the flipping mechanism comprises: a support; the clamping jaw is rotatably arranged on the bracket; wherein, the clamping jaw has the position of dodging of getting with tire complex clamp and dodging the tire.

Optionally, the tire assembly line further comprises a buffer storage frame, and the mounting mechanism is used for grabbing the tire on the third conveying line onto the buffer storage frame.

Optionally, the number of the cache racks is multiple, and the cache racks are arranged side by side.

Optionally, the buffer storage frame includes a first buffer storage frame group and a second buffer storage frame group which are arranged in parallel, the first buffer storage frame group and the second buffer storage frame group are respectively located at two sides of the vehicle to be assembled, the first buffer storage frame group is arranged at a position close to the third conveying line, and the tire assembly line further includes a transportation mechanism which transports the tires at the output end of the third conveying line to a position close to the second buffer storage frame group.

Optionally, the transport mechanism comprises: a high-altitude conveying frame; the first lifting platform and the second lifting platform are respectively positioned at two ends of the high-altitude conveying frame, the first lifting platform is arranged corresponding to the output end of the third conveying line, and the second lifting platform is arranged corresponding to the second buffer storage frame group.

Optionally, the high-altitude conveying frame, the first lifting platform and the second lifting platform are all provided with a transmission roller or a transmission belt.

Optionally, the number of the mounting mechanisms is two, and the two mounting mechanisms are respectively used for being matched with the first cache frame group and the second cache frame group.

Optionally, the mounting mechanism comprises: a manipulator; the manipulator is movably arranged on the slide rail; the device is screwed up in centre gripping, sets up the tip at the manipulator, and the device is screwed up in centre gripping includes: a mounting frame; the clamping mechanism is arranged on the mounting frame and used for clamping the tire to be assembled; the tightening mechanism is movably arranged on the mounting frame and has a first position close to the tire to be assembled and a second position far away from the tire to be assembled.

Optionally, a visual positioning device is arranged on the manipulator.

Optionally, the visual positioning means comprises a 3D camera.

Optionally, the tightening mechanism comprises: the mounting plate is movably arranged on the mounting frame; the first driving piece is arranged on the mounting plate; the sleeve is screwed up and arranged on the mounting plate; the first transmission assembly is arranged between the first driving piece and the tightening sleeve, and the first driving piece drives the tightening sleeve to rotate through the first transmission assembly.

Optionally, the tire rigging equipment still includes the loading attachment who sets up at the slide rail side, and loading attachment includes the material loading level, and the material loading level corresponds the setting with screw up the sleeve.

Optionally, the first driving member is a first motor, and the first transmission assembly includes: the first gear is connected with a motor shaft of the first motor; and the second gear is connected with the tightening sleeve, and the first gear is meshed with the second gear.

Optionally, a clutch device is provided between the first gear and the tightening sleeve.

Optionally, the second gear is provided in plurality around the first gear, the tightening sleeve is provided in plurality, and the plurality of second gears and the plurality of tightening sleeves are provided in one-to-one correspondence.

Optionally, the clamping and tightening device further comprises: and the lifting mechanism is arranged between the mounting frame and the tightening mechanism and drives the tightening mechanism to move between a first position and a second position.

Optionally, be provided with first mounting hole on the mounting panel, elevating system includes the driving cylinder, and the driving cylinder setting is connected with the mounting bracket after passing first mounting hole in the one side that deviates from the mounting bracket of mounting panel, the push rod of driving cylinder.

Optionally, a second mounting hole is formed in the mounting plate, the lifting mechanism further comprises a guide post, one end of the guide post is connected to the mounting frame, and the other end of the guide post penetrates through the second mounting hole.

Optionally, the clamping mechanism comprises: the first clamping part and the second clamping part are movably arranged on the mounting frame and are oppositely arranged; the second driving piece is matched with the first clamping part and the second clamping part and drives the first clamping part and the second clamping part to be close to each other or be far away from each other.

Optionally, the first clamping portion and the second clamping portion each comprise: the sliding frame is arranged on the mounting frame in a sliding manner; and the positioning column is arranged on the sliding frame and is suitable for being matched with a tire to be assembled, wherein the sliding frame is driven to slide by the second driving piece.

Optionally, two positioning columns are arranged on the sliding frame on the first clamping portion and the sliding frame on the second clamping portion.

Optionally, the clamping mechanism further comprises: and the second transmission assembly is arranged between the second driving piece and the first clamping part and/or the second clamping part.

Optionally, the second driving member is a second motor, and the second transmission assembly includes: the third gear is connected with a motor shaft of the second motor; and the two racks are respectively arranged on the sliding frame of the first clamping part and the sliding frame of the second clamping part and are respectively positioned at two sides of the third gear.

Optionally, the clamping and tightening device further comprises a connecting part arranged on the mounting rack, and the end part of the manipulator is connected to the connecting part.

The technical scheme of the invention has the following advantages:

with the tire assembly line of the present invention, the stacked tires are unstacked by the conveying mechanism via the unstacking mechanism. The unstacked tire passes through the turnover mechanism, and the turnover mechanism turns over the tire to be flanged, so that one part of the tires is in a forward direction, and the other part of the tires is in a reverse direction, and the assembly of the rear axle of the truck is further adapted. The mounting mechanism mounts the forward and reverse tires to the mounting vacant positions, and the rear axle tires are assembled. According to the technical scheme, the front and back mounting positions of the tire can be automatically adjusted by the tire assembly line, the adjustment by operators is not needed, the automation degree is high, and the defects that the automation degree of the tire assembly process in the prior art is low and the labor intensity of the operators is high are overcome.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 shows a perspective schematic view of an embodiment of a tire assembly line according to the present disclosure;

FIG. 2 shows an enlarged schematic view at A in FIG. 1;

FIG. 3 shows a schematic top view of the tire assembly line of FIG. 1;

FIG. 4 shows a schematic side view of the tire assembly line of FIG. 1;

FIG. 5 shows a schematic structural view of a mounting mechanism of the tire assembly line of FIG. 1 (the loading device not shown);

FIG. 6 is a partial perspective view of the mounting mechanism of FIG. 5 (showing the loading device)

FIG. 7 shows an enlarged schematic view at B in FIG. 6;

FIG. 8 is a schematic perspective view of the clamping and tightening device of the mounting mechanism of FIG. 5;

FIG. 9 shows an enlarged schematic view at C of FIG. 8;

FIG. 10 shows a perspective view from above of the clamping and tightening device of FIG. 8;

FIG. 11 shows an enlarged schematic view at D of FIG. 10;

FIG. 12 shows an enlarged schematic view at E in FIG. 10;

FIG. 13 shows a schematic bottom view of the clamp screw of FIG. 10;

FIG. 14 shows a schematic top view of the clamping and tightening device of FIG. 10;

FIG. 15 shows a side schematic view of the clamp screw of FIG. 10;

FIG. 16 shows a schematic view of the clamp screw attachment of FIG. 8 to a robot; and

fig. 17 shows an enlarged schematic view at F in fig. 16.

Description of reference numerals:

10. a mounting frame; 20. a clamping mechanism; 21. a first clamping portion; 22. a second clamping portion; 23. a second driving member; 24. a carriage; 25. a positioning column; 26. a second transmission assembly; 261. a third gear; 262. a rack; 30. a tightening mechanism; 31. mounting a plate; 311. a first mounting hole; 312. a second mounting hole; 32. a first driving member; 33. screwing down the sleeve; 34. a first transmission assembly; 341. a first gear; 342. a second gear; 40. a lifting mechanism; 41. a drive cylinder; 42. a guide post; 50. a connecting portion.

100. A manipulator; 200. a slide rail; 300. a clamping and tightening device; 400. a visual positioning device; 500. a feeding device; 501. loading the material;

1000. a destacking mechanism; 2000. a turnover mechanism; 2001. a support; 2002. a clamping jaw; 3000. a conveying mechanism; 3001. a first conveyor line; 3002. a second conveyor line; 3003. a third conveyor line; 3004. a fourth conveyor line; 3005. a turntable; 4000. an installation mechanism; 5000. a cache shelf; 5001. a first cache shelf group; 5002. a second cache shelf group; 6000. a transport mechanism; 6001. a high-altitude conveying frame; 6002. a first elevating platform; 6003. a second lifting platform.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The structure in the present embodiment will be described in detail below from three points including the overall arrangement of the tire assembly line, the structure of the mounting mechanism 4000 in the tire assembly line, and the structure of the grip tightening device 300 in the mounting mechanism 4000.

As shown in fig. 1, the tire assembling line according to the present embodiment includes a destacking mechanism 1000, a turning mechanism 2000, a conveying mechanism 3000, and a mounting mechanism 4000. Wherein, tilting mechanism 2000 is set up in the exit of mechanism 1000 breaks a jam, and tilting mechanism 2000 is used for at least some tire turn-ups after breaking a jam. The transport mechanism 3000 passes the tires through the unstacking mechanism 1000 and the inverting mechanism 2000, respectively. The mounting mechanism 4000 is used to grab the tire after passing through the turnover mechanism 2000 and mount the tire to a vehicle to be assembled.

With the tire assembly line of the present embodiment, stacked tires are unstacked by the conveying mechanism 3000 via the unstacking mechanism 1000. The unstacked tire passes through the turnover mechanism 2000, and the turnover mechanism 2000 turns over the tire to be turned over, so that one part of the tires is in a forward direction, and the other part of the tires is in a reverse direction, and the assembly of the rear axle of the truck is further adapted. The mounting mechanism 4000 mounts the forward and reverse tires to the mounting space, and the rear axle tires are assembled. In the technical scheme of this embodiment, the positive and negative mounted position of tire can be adjusted automatically to the tire assembly line, need not the adjustment of operating personnel, and degree of automation is high, has solved among the prior art tire assembly process degree of automation low, and operating personnel intensity of labour is big defect.

The unstacking mechanism 1000 is a device that separates a stack of stacked tires into individual tires and transports the individual tires by the transport mechanism 3000. In the automobile assembly process, in order to facilitate the transportation of tires from a warehouse to a work station, a plurality of tires need to be stacked, and in order to facilitate the transportation by a forklift, a bracket is placed at the bottom of the stacked tires. Thus, prior to assembly, the tires are placed in a stacked configuration at the input end of the conveyor mechanism 3000, and the unstacking mechanism 1000 functions to separate the stacked tires into individual tires.

In addition, the turnover mechanism 2000 is a device for turning over a tire. In the case of medium-heavy trucks, the rear tires of the truck comprise a pair of forward and reverse tires on one side of one axle, and therefore it is necessary to turn the tires over before assembly. The role of canting mechanism 2000 described above is therefore to turn over the tires and make the tire assembly line of the present embodiment particularly well suited for the assembly of axle tires for medium and heavy trucks. Further, rather than turning over each tire that passes over flipper 2000, flipper 2000 operates on the tire that needs to be turned over, i.e., after the tires have passed over flipper 2000, one portion is in a forward direction and the other portion is in a reverse direction. Of course, flipper 2000 may be configured to flip each tire passing therethrough as needed for the actual assembly process.

The above-described transport mechanism 3000 is a device for transporting tires. The transport mechanism drives the tires to be unstacked by the unstacking mechanism 1000, and then drives the unstacked tires to pass through the turnover mechanism 2000 (with or without turn-over operation). The conveyor mechanism 3000 may be implemented using any number of conventional configurations, such as conveyor wheels or belts.

It should be noted that the above-mentioned mounting mechanism 4000 is used for mounting a tire on a mounting site of a vehicle, and mainly includes a clamping function and a tightening function, and after the tire is unstacked and passes through the turnover mechanism 2000, the mounting mechanism 4000 clamps the tire at a mounting position and then tightens a fastener. The specific structure of the mounting mechanism 4000 will be described in detail below.

As shown in fig. 3, in the present embodiment, the conveying mechanism 3000 includes a first conveying line 3001, a second conveying line 3002, a third conveying line 3003, and a fourth conveying line 3004. Wherein the first transfer line 3001 communicates with an inlet of the unstacking mechanism 1000. A second conveyor line 3002 is provided at the outlet of the unstacking mechanism 1000, the second conveyor line 3002 being configured to be capable of changing the conveying direction. The third transfer line 3003 and the fourth transfer line 3004 are provided at both ends of the second transfer line 3002, respectively, the third transfer line 3003 is used for transferring unstacked tires, and the fourth transfer line 3004 is used for transferring unstacked carriers. Further, turnover mechanism 2000 is provided on the path of third conveyor line 3003. Specifically, as already mentioned above, the tyre stack comprises the superposed tyres and the underlying carriers, whereas the unstacking mechanism 1000 needs to separate the tyres and the carriers, when the carriers are separated and transported out of the unstacking mechanism 1000, the transport direction of the second conveyor line 3002 is configured to be transported towards the fourth conveyor line 3004. When the tire is separated and carried out from the unstacking mechanism 1000, the second conveyor line 3002 changes its transport direction and is configured to transport toward the third conveyor line 3003. The structure realizes the position separation of the tire and the bracket, thereby facilitating the transportation of the tire and the recovery of the bracket. Preferably, as can be further seen from fig. 3, the third transfer line 3003 and the fourth transfer line 3004 are located on the same straight line and on the left and right sides of the second transfer line 3002. That is, after the tires are unstacked, the carriers are placed on the fourth conveyor line 3004 and await recovery, while the tires are placed on the third conveyor line 3003 and continue to move forward awaiting inversion (or no inversion) and assembly.

It should be further noted that, as can be seen from fig. 3, the length of the third conveying line 3003 is shorter than that of the other conveying lines, and the "conveying line" in this embodiment refers to a structure that moves the object to be conveyed forward, and does not refer to only the conveying line with a longer length. Therefore, the structure having the above-described functions is the "conveying line" in the present embodiment, regardless of the length of the conveying distance. Preferably, the first conveyor line 3001, the second conveyor line 3002, the third conveyor line 3003 and the fourth conveyor line 3004 are roller conveyor lines in this embodiment, but the four conveyor lines may be implemented by other types, such as belt conveyor lines, hanger conveyor lines, etc.

The unstacking mechanism 1000 is a tool commonly used in the assembly process, and the general working principle thereof is described here: the unstacking mechanism 1000 comprises a frame, and a centering mechanism and a lifting mechanism which are positioned in the frame, wherein the centering mechanism centers the tire stack in the frame firstly, the lifting mechanism lifts the superposed tires, only the bracket is left on a conveying belt, and the bracket can be conveyed out by the conveying belt independently. After the carriage is carried out, the superposed tires are placed on the conveyor belt, the lifting mechanism lifts the tires except for the lowermost one, and only one tire is transported on the conveyor belt. This step is repeated, i.e. the superposed tyre single can be placed on the third transfer line 3003. The unstacking mechanism 1000 is a conventional mechanism in the prior art, and therefore the detailed structure thereof is not described in detail.

As shown in fig. 3, in the present embodiment, a turntable 3005 is disposed below the second conveying line 3002, and the turntable 3005 drives the second conveying line 3002 to rotate to change the conveying direction of the second conveying line 3002. Specifically, the turn table 3005 can drive the second conveyor line 3002 to rotate in the horizontal plane direction, and as can be seen from fig. 3, the second conveyor line 3002 can change its output end between the third conveyor line 3003 and the fourth conveyor line 3004 by rotating 180 °. Of course, changing the conveying direction of the second conveying line 3002 is not limited to the manner of passing through the turn table 3005, and the same effect can be achieved by changing the rotating direction of the rollers on the second conveying line 3002, for example.

As shown in fig. 2, in the present embodiment, turnover mechanism 2000 includes a bracket 2001 and a jaw 2002. Wherein the gripping jaw 2002 is rotatably provided on the bracket 2001, and the gripping jaw 2002 has a gripping position cooperating with the tire and an avoidance position avoiding the tire. Specifically, the support 2001 is disposed vertically, and the gripping jaw 2002 can grip or release the tire by an air cylinder or other driving means. Further, the gripping jaw 2002 may be rotated by a motor or other drive means to effect tire rollover. As already mentioned above, in the present embodiment, the turnover mechanism 2000 does not turn over every tire passing through it, so that for a tire that does not need to be turned over, the gripping jaw 2002 needs to be moved to the avoiding position and pass the tire, and for a tire that needs to be turned over, the gripping jaw 2002 needs to be moved to the gripping position and grip the tire. Preferably, the gripping jaw 2002 in this embodiment achieves the gripping position and the avoidance position by moving up and down on the support 2001. Meanwhile, the gripping jaw 2002 can also make the tire have a space for turn-over by moving up and down. Of course, the gripping jaw 2002 may have the gripping position and the avoiding position in other ways, such as moving the holder 2001 as a whole or turning it over. Further, the up and down movement of the gripping jaw 2002 on the carriage 2001 may be achieved by conventional mechanisms, such as slide rails, sliders and air cylinders.

As shown in fig. 1 and 3, in the present embodiment, the tire assembly line further includes a buffer storage rack 5000, and the mounting mechanism 4000 is configured to grip the tire on the third conveyor line 3003 onto the buffer storage rack 5000. Specifically, the buffer bracket 5000 is placed on the side of the belt-mounted vehicle, and substantially corresponds to the mounting position of the tire. The tire passes through the turnover mechanism 2000 and moves to the end of the third conveyor line 3003, and the mounting mechanism 4000 holds the tire and transports it to the buffer storage rack 5000, and waits for subsequent assembly.

Preferably, there are a plurality of cache shelves 5000, and the plurality of cache shelves 5000 are arranged side by side. Specifically, each side of the medium and heavy truck needs a plurality of tires to be assembled, so that a corresponding number of buffer racks 5000 are provided, in this embodiment, three buffer racks 5000 are provided, and each buffer rack 5000 is provided with two tire placement positions. The number of cache shelves 5000 may be adjusted by one skilled in the art according to actual assembly requirements.

As shown in fig. 1, fig. 3, and fig. 4, in the technical solution of this embodiment, the cache shelf 5000 includes a first cache shelf group 5001 and a second cache shelf group 5002 that are arranged in parallel. The first buffer storage frame group 5001 and the second buffer storage frame group 5002 are located on two sides of a vehicle to be assembled respectively, the first buffer storage frame group 5001 is arranged at a position close to the third conveying line 3003, the tire assembly line further comprises a conveying mechanism 6000, and the conveying mechanism 6000 conveys tires at the output end of the third conveying line 3003 to a position close to the second buffer storage frame group 5002. Specifically, the tire on the first buffer rack group 5001 and the tire of the second buffer rack group 5002 correspond to the tires on both sides of the vehicle to be equipped, respectively, and each buffer rack group includes a plurality of individual buffer racks, so that the first buffer rack group 5001 and the second buffer rack group 5002 are in a juxtaposed shape as can be seen from fig. 3. Further, in order to save space, the second buffer stocker group 5002 is not provided with the corresponding tire processing apparatus such as the unstacking mechanism 1000, the turnover mechanism 2000, and the like, but transports the processed tire from the third transport line 3003 to the second buffer stocker group 5002 by the transport mechanism 6000.

As shown in fig. 3 and 4, in the present embodiment, the transportation mechanism 6000 includes an overhead carriage 6001, a first lifting platform 6002, and a second lifting platform 6003. The first lifting platform 6002 and the second lifting platform 6003 are located at two ends of the overhead conveying frame 6001, respectively, the first lifting platform 6002 is arranged corresponding to the output end of the third conveying line 3003, and the second lifting platform 6003 is arranged corresponding to the second buffer frame group 5002. Specifically, the end of the third transfer line 3003 is the first elevating platform 6002, and therefore the tire is transferred onto the first elevating platform 6002 by the transfer of the third transfer line 3003. If the tire needs to be transported to the first buffer rack set 5001, the first elevation platform 6002 does not rise at this time, but functions as a buffer, and the mounting mechanism 4000 clamps the tire on the first elevation platform 6002 and transports the tire to the first buffer rack set 5001. If the tire needs to be transferred to the second buffer storage rack set 5002, the first lift platform 6002 and the second lift platform 6003 are raised, and the tire passes through the first lift platform 6002 and the overhead transport rack 6001 and then arrives at the second lift platform 6003. The second lift station 6003 then drops, and the mounting mechanism 4000 grips and transports the tire on the second lift station 6003 to the second buffer frame set 5002. Of course, besides the mode of overhead transportation, the assembly line may also realize the effect of transferring the tires between the first cache rack group 5001 and the second cache rack group 5002 through other modes such as underpass transfer.

Preferably, the overhead carriage 6001, first lift station 6002 and second lift station 6003 are each provided with drive rollers or drive belts to move the tire in a direction along the first lift station 6002 to the second lift station 6003.

As shown in fig. 1, 3 and 4, in the technical solution of the present embodiment, there are two mounting mechanisms 4000, and the two mounting mechanisms 4000 are respectively used for cooperating with the first cache shelf group 5001 and the second cache shelf group 5002. Specifically, one of the mounting mechanisms 4000 is used to carry the tires on the first elevating stage 6002 onto the first buffer frame group 5001, and then mount the tires on the first buffer frame group 5001 onto the tire mounting positions on the side of the vehicle to be mounted. Another mounting mechanism 4000 is used to transport tires on the second lift station 6003 to the second set of cache frames 5002 and then mount tires on the second set of cache frames 5002 to tire mounting locations on the other side of the vehicle to be mounted.

As shown in fig. 5 and 6, in the solution of the present embodiment, the mounting mechanism 4000 includes a robot arm 100, a slide rail 200, and a clamping and tightening device 300. Wherein the robot arm 100 is movably disposed on the slide rail 200. The clamping and tightening device 300 is provided at an end of the robot 100.

Specifically, taking the mounting mechanism 4000 on the first buffer rack group 5001 side as an example, the slide rail 200 extends along the arrangement direction of the first buffer rack group 5001, and the end portion thereof is provided corresponding to the first elevating platform 6002. The sled 200 allows the robot to move at the location where the first lift stage 6002 and the first buffer rack set 5001 pass, thereby facilitating the transfer of the tire. The robot 100 is a device commonly used in the industry, and the robot 100 can rotate in multiple axes to freely adjust the angle of the clamping and tightening device 300 and control the position of the tire.

As can be seen from fig. 8, in the solution of the present embodiment, the clamping and tightening device 300 includes a mounting frame 10, a clamping mechanism 20, and a tightening mechanism 30. Wherein a clamping mechanism 20 is provided on the mounting frame 10 and is used for clamping the tire to be assembled. The tightening mechanism 30 is movably disposed on the mounting frame 10, and the tightening mechanism 30 has a first position close to the tire to be mounted and a second position distant from the tire to be mounted. Specifically, the tightening mechanism 30 can be moved in a telescopic manner between a first position and a second position, on the one hand, when the clamping and tightening device 300 is clamping and transferring a tire, the tightening mechanism 30 can be in the second position so as to avoid the tire, preventing the tightening mechanism 30 from interfering with the tire; on the other hand, as mentioned above, the axle of a medium-heavy truck comprises two tires on one side of one axle, and therefore its mounting stud is located deeper than in a domestic vehicle. Therefore, when the nut is assembled, the tightening mechanism 30 extends out and is located at the first position, so that the deep position of the stud in the medium-heavy truck can be better adapted to, and the clamping and tightening device 300 of the embodiment is particularly suitable for the medium-heavy truck.

It should be noted that the tightening mechanism 30 is used for mounting a nut on a stud of a vehicle, and those skilled in the art will understand that the tightening process includes positioning pre-tightening and tightening, and the tightening device does not only refer to a structure for implementing the tightening process, and the device for implementing the positioning pre-tightening and the tightening is the tightening mechanism 30. In the present embodiment, the tightening mechanism 30 is preferably used to perform the pre-tightening process, but the tightening mechanism 30 may be used to perform the tightening process.

As shown in fig. 5 and 6, in the solution of the present embodiment, the robot arm 100 is provided with a visual positioning device 400. The visual pointing device 400 is used to record, analyze and compare the position of a particular structure. In this embodiment, the visual positioning device 400 is used to record the position of the stud on the axle and the position of the threaded hole on the tire. And preferably, the visual positioning device 400 comprises a 3D camera.

Based on the above-described structure of the mounting mechanism 4000, taking the mounting mechanism 4000 located on the first cache frame group 5001 side as an example, the following describes the mounting process of the rear axle tire in the present embodiment:

1. the manipulator 100 moves along the slide rail 200 and carries a 3D camera to take a picture of the tire to be assembled on the rear axle on the first cache frame group 5001 and position the tire (record the position of the screw hole);

2. After the vehicle to be assembled on the assembly line is in place, the mechanical arm 100 moves along the slide rail 200 and carries a 3D camera to perform first photographing positioning on the rear axle (recording the position of a stud on the axle), the tire assembling position is automatically matched by vision after photographing is completed, then a clamping and tightening device 300 at the end part of the mechanical arm 100 grabs a first rear axle tire from a first cache frame group 5001 through a clamping mechanism 20 to assemble, and at the moment, a tightening mechanism 30 is located at a second position;

3. after the tire of the first rear axle is assembled, the tire is loosened by the clamping mechanism 20, the manipulator 100 moves along the slide rail 200 and carries the camera to perform secondary photographing and positioning on the rear axle, and the tire assembling position is automatically matched by vision after photographing is completed. Thereafter, the robot 100 automatically picks up the nut from the loading device 500 (described below) and positions the nut on the tightening mechanism 30, and then picks up the second tire of the rear axle from the first buffer frame set 5001 by the gripper 20 for assembly, and after the tire is assembled, the tightening mechanism 30 extends out and moves from the second position to the first position for automatic nut pre-tightening. After the nuts are pre-tightened in place, the tightening mechanism 30 retracts to the second position, the gripper mechanism 20 releases the tire, and the robot 100 retracts to the home position.

As shown in fig. 8 to 10, in the solution of the present embodiment, the tightening mechanism 30 includes a mounting plate 31, a first driving member 32, a tightening sleeve 33, and a first transmission assembly 34. Wherein the mounting plate 31 is movably arranged on the mounting frame 10. The first driving member 32 is provided on the mounting plate 31. The tightening sleeve 33 is provided on the mounting plate 31. The first transmission assembly 34 is disposed between the first driving member 32 and the tightening socket 33, and the first driving member 32 drives the tightening socket 33 to rotate through the first transmission assembly 34. Specifically, the tightening sleeve 33 is used for grasping the nut, and when the first driving member 32 is started, the first driving member 32 rotates the tightening sleeve 33 through the first transmission assembly 34, so that the nut is screwed onto a stud of the tire mounting position, and positioning pre-tightening or tightening is completed.

As shown in fig. 6 and 7, in the technical solution of the present embodiment, the tire assembling apparatus further includes a feeding device 500 disposed at a side of the slide rail 200, the feeding device 500 includes a feeding level 501, and the feeding level 501 is disposed corresponding to the tightening sleeve 33. Specifically, the loading device 500 is used for placing the nuts at specific positions. The loading level 501 is the location where the nut is placed. In this application, the position that material loading level 501 screwed up sleeve 33 corresponds, and it has magnetism to screw up sleeve 33 tip simultaneously, and consequently when will screw up mechanism 30 and place on loading attachment 500, the nut on material loading level 501 can the automatic pickup by the tip of screwing up sleeve 33, realizes the effect of snatching the nut.

As shown in fig. 10 and 11, in the solution of the present embodiment, the first driving member 32 is a first motor. The first transmission assembly 34 includes a first gear 341 and a second gear 342. The first gear 341 is connected to a motor shaft of the first motor, the second gear 342 is connected to the tightening sleeve 33, and the first gear 341 is engaged with the second gear 342. Specifically, when the first motor operates, the motor shaft of the first motor drives the first gear 341 to rotate, the first gear 341 drives the second gear 342 to rotate, and meanwhile, the second gear 342 drives the tightening sleeve 33 to rotate, so that the nut can be screwed into the stud.

Preferably, a clutch device is provided between the second gear 342 and the tightening sleeve 33. In the embodiment, the clutch device is used for separating the second gear 342 from the tightening sleeve 33 and allowing the second gear 342 to idle when the torque applied by the second gear 342 is larger than a preset value, so that the pre-tightening effect is achieved. The clutch mechanism can be implemented by various structures, for example, the contact surface between the second gear 342 and the tightening sleeve 33 is rough, and the second gear 342 cannot continue to drive the tightening sleeve 33 to rotate when the torque is larger than the friction force between the contact surfaces.

As shown in fig. 10, 13, and 14, in the present embodiment, a plurality of second gears 342 are provided around the first gear 341, a plurality of tightening sleeves 33 are provided, and the plurality of second gears 342 and the plurality of tightening sleeves 33 are provided in one-to-one correspondence. Specifically, since a plurality of nuts are required to be mounted on the tire of the medium-heavy truck, the number of tightening bushings 33 is equal to the number of rear axle studs in this embodiment. The plurality of tightening sleeves 33 are arranged uniformly in the axial direction. When the first gear 341 rotates, the first gear 341 rotates the plurality of second gears 342, thereby rotating the plurality of tightening sleeves 33 together. Meanwhile, as can be seen from fig. 7, the plurality of loading positions 501 correspond to one another, and the plurality of loading positions and the plurality of tightening sleeves 33 are arranged in a one-to-one correspondence manner.

As shown in fig. 9, 10 and 15, in the present embodiment, the clamping and tightening device further includes a lifting mechanism 40. The lifting mechanism 40 is disposed between the mounting bracket 10 and the tightening mechanism 30, and the lifting mechanism 40 drives the tightening mechanism 30 to move between the first position and the second position. Specifically, the lifting mechanism 40 allows the tightening mechanism 30 to move telescopically. As can be seen from fig. 8 and 10, the mounting frame 10 is a frame structure, and the middle of the mounting frame 10 has a receiving space, and the tightening mechanism 30 is located in the receiving space. The above arrangement allows the tightening mechanism 30 to be retracted outside the mounting bracket 10 when in the second position and the tightening sleeve 33 to extend through the receiving space to the other side when the tightening mechanism 30 is in the first position.

As shown in fig. 8 and 9, in the solution of the present embodiment, a first mounting hole 311 is provided on the mounting plate 31, the lifting mechanism 40 includes a driving cylinder 41, the driving cylinder 41 is provided on a side of the mounting plate 31 away from the mounting frame 10, and a push rod of the driving cylinder 41 passes through the first mounting hole 311 and then is connected to the mounting frame 10. Specifically, when the push rod of the drive cylinder 41 extends, the mounting plate 31 is raised as a whole, and the first drive member 32 and the tightening sleeve 33 on the mounting plate 31 are raised together and moved to the second position. When the push rod of the driving cylinder 41 retracts, the mounting plate 31 is lowered integrally, so that the first driving piece 32 on the mounting plate 31 and the tightening sleeve 33 are lifted together and moved to the first position. Preferably, the driving cylinders 41 are disposed on both sides of the mounting plate 31, and the first mounting holes 311 are also disposed in two for ensuring smooth movement of the mounting plate 31.

As shown in fig. 8 and 9, in the solution of the present embodiment, the mounting plate 31 is provided with a second mounting hole 312, the lifting mechanism 40 further includes a guide post 42, one end of the guide post 42 is connected to the mounting frame 10, and the other end of the guide post 42 passes through the second mounting hole 312. Specifically, the guide posts 42 serve as guides that ensure that the mounting plate 31 moves along a predetermined straight line before the first and second positions. It is further preferable that the number of the guide posts 42 is two, and the two guide posts 42 are respectively located at both sides of the driving cylinder 41, and correspondingly, the number of the second mounting holes 312 is also two, so as to ensure that both ends of the mounting plate 31 are not inclined.

As shown in fig. 10, in the solution of the present embodiment, the clamping mechanism 20 includes a first clamping portion 21, a second clamping portion 22 and a second driving member 23. Wherein, the first clamping portion 21 and the second clamping portion 22 are movably disposed on the mounting frame 10, and the first clamping portion 21 and the second clamping portion 22 are oppositely disposed. The second driving member 23 is engaged with the first and

second clamping portions

21 and 22 and drives the first and

second clamping portions

21 and 22 to approach or move away from each other. When the first holding portion 21 and the second holding portion 22 are close to each other, the tire is held, and when the first holding portion 21 and the second holding portion 22 are away from each other, the tire is released. Preferably, the tightening mechanism 30 is located in the middle of the first and

second clamping portions

21 and 22.

As shown in fig. 10, in the solution of the present embodiment, each of the first clamping portion 21 and the second clamping portion 22 includes a sliding frame 24 and a positioning column 25. Wherein the carriage 24 is slidably disposed on the mounting frame 10. A positioning column 25 is provided on carriage 24 and is adapted to cooperate with the tyre to be fitted, wherein second drive 23 drives carriage 24 in sliding motion. Specifically, the first clamping portion 21 and the second clamping portion 22 have the same structure, and the structures of the two clamping portions are arranged substantially in a mirror image. The sliding frame 24 and the mounting frame 10 are connected and can slide through a sliding rail structure.

Preferably, two positioning pillars 25 are disposed on the sliding rack 24 of the first clamping portion 21 and the sliding rack 24 of the second clamping portion 22. Two positioning columns 25 are respectively located at two ends of the sliding frame 24, and the four positioning columns 25 can guarantee stable clamping of the tire. Preferably, the positioning post 25 is a threaded post, so that the positioning post 25 and the tire have a larger friction force.

As shown in fig. 10 and 12, in the solution of the present embodiment, the clamping mechanism 20 further includes a second transmission assembly 26 disposed between the second driving member 23 and the first clamping portion 21 and the second clamping portion 22. Specifically, the second transmission assembly 26 functions to convert the driving force of the second driving member 23 into the sliding motion of the first clamping portion 21 and the second clamping portion 22. Of course, the second transmission assembly 26 may also be only matched with one of the first clamping portion 21 and the second clamping portion 22, for example, one of the first clamping portion 21 and the second clamping portion 22 is fixed, and the second driving member 23 drives the other to move through the second transmission assembly 26, which also has the technical effect of clamping the tire. In some embodiments, which are not shown, no intermediate transmission (i.e. the second transmission assembly 26) may be provided, for example, the first clamping portion 21 or the second clamping portion 22 is directly connected to the push rod of one of the driving cylinders, i.e. the first clamping portion 21 or the second clamping portion 22 is directly connected to the second driving element 23.

As shown in fig. 10, 12, 16 and 17, in the solution of the present embodiment, the second driving element 23 is a second motor, and the second transmission assembly 26 includes a third gear 261 and two racks 262. Wherein the third gear 261 is connected with a motor shaft of the second motor. Two racks 262 are respectively provided on the carriage 24 of the first clamp 21 and the carriage 24 of the second clamp 22, and the two racks 262 are respectively located on both sides of the third gear 261. Specifically, the above structure is such that when the second motor rotates, the third gear 261 is driven to rotate, and at the same time, the third gear 261 simultaneously drives the two racks to move. Since the two racks 262 are respectively located at both sides of the third gear 261, in fig. 12, when the third gear 261 rotates clockwise in the opposite direction, the upper rack 262 moves rightward, the lower rack 262 moves leftward, and the two racks 262 pull the first clamping portion 21 and the second clamping portion 22 to approach each other and perform a clamping effect; when the third gear 261 rotates in the counterclockwise direction, the upper rack 262 moves to the left, the lower rack 262 moves to the right, and the two racks 262 pull the first and

second clamping portions

21 and 22 away from each other, thereby opening the tire. In combination with the above, since the tightening mechanism 30 is located between the first clamping portion 21 and the second clamping portion 22, when the first clamping portion 21 and the second clamping portion 22 are simultaneously moved inward, the centering effect is also exerted.

As shown in fig. 8 and 16, in the solution of the present embodiment, the clamping and tightening device 300 further includes a connecting portion 50 provided at the mounting frame 10, and an end of the robot 100 is connected to the connecting portion 50.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims

1. A tire assembly line for medium and heavy trucks, comprising:

a destacking mechanism (1000);

the overturning mechanism (2000) is arranged at an outlet of the unstacking mechanism (1000), and the overturning mechanism (2000) is used for flanging at least part of the unstacked tires and enabling one part of the tires to be in a forward direction and the other part of the tires to be in a reverse direction;

a conveying mechanism (3000), wherein the conveying mechanism (3000) enables the tires to pass through the unstacking mechanism (1000) and the turnover mechanism (2000) respectively;

a mounting mechanism (4000) for gripping the tire after passing through the inverting mechanism (2000) and mounting the tire to a vehicle to be assembled,

The conveying mechanism (3000) comprises:

a first conveyor line (3001) communicating with an inlet of the unstacking mechanism (1000);

a second transport line (3002) provided at an outlet of the unstacking mechanism (1000), the second transport line (3002) being configured to be changeable in transport direction,

third transfer chain (3003) and fourth transfer chain (3004), third transfer chain (3003) with fourth transfer chain (3004) set up respectively in the both ends of second transfer chain (3002), third transfer chain (3003) are used for carrying the tire after breaking a jam, fourth transfer chain (3004) are used for carrying the bracket after breaking a jam,

wherein the turnover mechanism (2000) is arranged on the path of the third conveying line;

a rotary table (3005) is arranged below the second conveying line (3002), and the rotary table (3005) drives the second conveying line (3002) to rotate so as to change the conveying direction of the second conveying line (3002);

the tire assembly line further comprises a buffer storage frame (5000) and a conveying mechanism (6000), wherein the mounting mechanism (4000) is used for grabbing tires on the third conveying line (3003) to the buffer storage frame (5000), the buffer storage frame (5000) comprises a first buffer storage frame group (5001) and a second buffer storage frame group (5002) which are arranged in parallel, the conveying mechanism (6000) comprises an overhead conveying frame (6001) and a first lifting platform (6002) and a second lifting platform (6003) which are respectively located at two ends of the overhead conveying frame (6001), the first buffer storage frame group (5001) is arranged at a position close to the third conveying line (3003), the first lifting platform (6002) corresponds to the output end of the third conveying line (3003), and the second lifting platform (6003) corresponds to the second buffer storage frame group (5002).

2. The tyre assembly line of claim 1, characterized in that said overturning mechanism (2000) comprises:

a bracket (2001);

a jaw (2002) rotatably disposed on the bracket (2001);

wherein the gripping jaw (2002) has a gripping position cooperating with the tire and an avoidance position to avoid the tire.

3. The tire assembly line of claim 1, wherein the number of mounting mechanisms (4000) is two, the two mounting mechanisms (4000) being adapted to mate with the first cache shelf group (5001) and the second cache shelf group (5002), respectively.

4. The tyre assembly line according to claim 3, characterized in that said overhead carriage (6001), said first lifting station (6002) and said second lifting station (6003) are provided with driving rollers or belts.

5. The tire assembly line of claim 1, wherein the mounting mechanism (4000) comprises:

a robot (100);

a slide rail (200), on which the manipulator (100) is movably arranged;

a grip tightening device (300) provided at an end of the robot arm (100), the grip tightening device (300) comprising:

A mounting frame (10);

the clamping mechanism (20) is arranged on the mounting frame (10) and is used for clamping the tire to be assembled;

a tightening mechanism (30) movably disposed on the mounting bracket (10), the tightening mechanism (30) having a first position proximate to the tire to be assembled and a second position distal from the tire to be assembled;

a visual positioning device (400) is arranged on the manipulator (100);

the visual positioning device (400) comprises a 3D camera.

6. The tyre assembly line of claim 5, wherein the tightening mechanism (30) comprises:

a mounting plate (31) movably arranged on the mounting frame (10);

a first drive member (32) provided on the mounting plate (31);

a tightening sleeve (33) provided on the mounting plate (31);

a first transmission assembly (34) arranged between the first driving piece (32) and the tightening sleeve (33), wherein the first driving piece (32) drives the tightening sleeve (33) to rotate through the first transmission assembly (34);

the tire assembling equipment further comprises a feeding device (500) arranged on the side edge of the sliding rail (200), the feeding device (500) comprises a feeding position (501), and the feeding position (501) is arranged corresponding to the tightening sleeve (33);

The first drive member (32) is a first electric motor, and the first transmission assembly (34) includes:

a first gear (341) connected to a motor shaft of the first motor;

a second gear (342) connected to the tightening sleeve (33), the first gear (341) being engaged with the second gear (342);

a clutch device is arranged between the first gear (341) and the tightening sleeve (33);

the second gear (342) is provided with a plurality of gears around the first gear (341), the tightening sleeves (33) are provided with a plurality of gears, and the plurality of second gears (342) and the plurality of tightening sleeves (33) are arranged in one-to-one correspondence.

7. The tire assembly line of claim 6, wherein the clamp tightening apparatus further comprises:

a lifting mechanism (40) disposed between the mounting bracket (10) and the tightening mechanism (30), the lifting mechanism (40) driving the tightening mechanism (30) to move between the first position and the second position;

a first mounting hole (311) is formed in the mounting plate (31), the lifting mechanism (40) comprises a driving cylinder (41), the driving cylinder (41) is arranged on one side, away from the mounting frame (10), of the mounting plate (31), and a push rod of the driving cylinder (41) penetrates through the first mounting hole (311) and then is connected with the mounting frame (10);

Be provided with second mounting hole (312) on mounting panel (31), elevating system (40) still includes guide post (42), the one end of guide post (42) is connected on mounting bracket (10), the other end of guide post (42) passes second mounting hole (312).

8. The tyre assembly line according to any one of claims 5 to 7, characterized in that said gripping mechanism (20) comprises:

a first clamping part (21) and a second clamping part (22), wherein the first clamping part (21) and the second clamping part (22) are movably arranged on the mounting frame (10), and the first clamping part (21) and the second clamping part (22) are oppositely arranged;

a second driving member (23), wherein the second driving member (23) is matched with the first clamping part (21) and the second clamping part (22) and drives the first clamping part (21) and the second clamping part (22) to approach or move away from each other;

the first clamping portion (21) and the second clamping portion (22) each comprise:

a carriage (24) slidably disposed on the mounting frame (10);

a positioning column (25) arranged on said sliding carriage (24) and suitable for cooperating with said tyre to be fitted,

Wherein the second driving element (23) drives the sliding frame (24) to slide;

two positioning columns (25) are arranged on the sliding frame (24) on the first clamping part (21) and the sliding frame (24) on the second clamping part (22);

the clamping mechanism (20) further comprises:

a second transmission assembly (26) arranged between the second drive member (23) and the first clamping portion (21) and/or the second clamping portion (22);

the second driving member (23) is a second motor, and the second transmission assembly (26) comprises:

a third gear (261) connected to a motor shaft of the second motor;

two racks (262), the two racks (262) are respectively arranged on the sliding frame (24) of the first clamping part (21) and the sliding frame (24) of the second clamping part (22), and the two racks (262) are respectively positioned on two sides of the third gear (261).

9. The tyre assembly line according to claim 5, characterized in that the clamping and tightening device (300) further comprises a connection portion (50) provided on the mounting frame (10), the end of the robot arm (100) being connected to the connection portion (50).