CN206029196U - Full -automatic tire fitting line - Google Patents

Abstract

The utility model provides a full -automatic tire fitting line, full -automatic tire fitting line includes the T humanoid robot, includes basic fixed frame, two vertical fixing tracks, parallel arrangement are under basic fixed frame, and vertical rack is divided into to the vertical fixing track, the vertical fixing track adopts the aluminium alloy, the lateral shifting rail set, locate two vertical fixing tracks under, X is to the walking dolly, be located the lateral shifting rail set under, it is fastened in lift guiding arm both sides by the support connecting pipe and the cooperation of fixed connection board of two vertical settings, automobile body moving roller rail line sets up under the basic fixed frame crossbeam of T humanoid robot, with vertical fixing track parallel arrangement, the balanced automatic distributor of tire feed mechanism, screw, set up in automobile body moving roller rail line one side. The utility model discloses full -automatic tire fitting line solves tedious manual work and moves a year assembly, promotes the assembly trade intelligent assembly degree of carrying of moving.

Description

A kind of Full-automatic tire assembly line

Technical field

The utility model is related to a kind of Full-automatic tire assembly line.

Background technology

With the sustained and rapid development of national economy, manufacturing average salary growth rate is but always maintained at double figures High growth.Wherein, cities and towns unit manufacturing industry average salary rise 14% every year, being similar to also occurs in private unit manufacturing industry wage Amount of increase.National standards for minimum wages, have also gone up more than 80% since the global financial crisis.And, it is quick in wage While growth, our labour's productivity ratio but occurs in that the sign of falling on the contrary.Traditional equipment is intensive and densely populated place Transfer assembly enterprise, can not meet the demand of big era change development, has still more had under specific environment and adverse circumstances Artificial operation is (such as：High intensity, high pollution, strong noise, high-risk etc.), thus solve heavy, intensive, dangerous hand labor and Increase productivity, undoubtedly become the development trend of modern intelligence manufacture information industry.

Traditional manual assembly line is related to all elementary cell supply assembling equilibrium problems, each working cell behaviour of major embodiment Make time coordination imbalance, allotment human resources are uneven, and work facility is uneven, and groundwork cell node imbalance etc. is asked Topic, and then extend producing line assembling speed slowly, under progress efficiency, personnel's facility effectively can not make full use of, and manage and assemble Cost remains high.

Existing T-shaped boosting manipulator, mainly by the control of gas micro operation force, the lifting of cucurbit, manpower passage, electricity Effective cooperation of machine, cylinder and track etc. come control its up and down, left and right, the hoofing part such as level, each unit run it is relatively independent, Its each necessary Jing manpowers single operation execution of function, although assemble the part for carrying that industry plays power-assisted and productivity in transfer Improve, but the interrelated cooperation of the overall intelligence assembling degree, the operating efficiency of pneumatic control and each unit of assembly line is still deposited Serious too late

The content of the invention

The purpose of this utility model is a kind of Full-automatic tire assembly line of design, solves heavy artificial transfer assembling, Transfer assembling industry Intelligent assembly degree is lifted, the delivery cycle is reduced, is reduced consuming, is improved product quality, optimize the management of product, Strengthen productivity.

For reaching above-mentioned purpose, the technical solution of the utility model is：

A kind of Full-automatic tire assembly line, including：T-shaped robot, which includes, basic fixed frame, by some columns and The crossbeam being connected thereto constitutes some portal parallel interval arrangements and forms；Two longitudinally fixed tracks, are set in parallel in described On basic fixed frame under some crossbeams, longitudinal rack under longitudinally fixed track, is set along its length；Longitudinally fixed track is adopted Aluminium section bar；Transverse shifting rail set, is arranged under two longitudinally fixed tracks, and which includes, a mobility framework, by First, the second cross track and two tie-beams are constituted；First, second cross track adopts aluminium section bar；Two U-shaped wheel groups, are installed on institute State on first, second liang of cross track two ends, the U-shaped wheel group includes a connecting support seat and is arranged on two rollings at end face two ends Driving wheel group, wherein, scroll wheel groups wheel is respectively arranged in longitudinally fixed track interior, and wheel seat is fixed on connecting support seat；Institute State mobility framework rail-guided to vertically move according to longitudinally fixed；One synchronous drive shaft, by being arranged at the fixed seat of its both sides It is installed on the first cross track in the mobility framework, it is parallel with the first cross track；Synchronous drive shaft two ends set respectively One Y-direction drive gear, and engaged with the longitudinal rack under two longitudinally fixed tracks with this；Y-direction servomotor, is arranged at described On the outside of one cross track, Y-direction servo motor output shaft passes through reductor and the synchronous drive shaft of driving member connection, synchronous by driving Drive shaft and Y-direction drive gear are coordinated with longitudinal rack, so as to drive the mobility framework rail-guided to do vertical according to longitudinally fixed To movement；Two cross spacings are switched, and are respectively arranged in the mobility framework both sides on the second cross track；Horizontal tooth bar, edge Length direction is arranged under second cross track；X to walking dolly, under the transverse shifting rail set, its With two support connecting tubes being vertically arranged and fixed connecting plate, lifting leading arm both sides are anchored on；Two support connection Pipe top is respectively provided with a U-shaped wheel group, and the U-shaped wheel group includes a connecting support seat and is arranged on two scroll wheels at end face two ends Group, wherein, scroll wheel groups wheel is respectively arranged in inside first, second cross track, and wheel seat is fixed on connecting support seat；X To servomotor, it is arranged on the fixed connecting plate, X couples reductor and an X to drive gear to servo motor output shaft, The X is coordinated to drive gear with the horizontal tooth bar, so as to drive X to be oriented to walking dolly according to first, second liang of cross track X is to movement, and together with lifting leading arm, is performed and is laterally walked；The lifting leading arm, including outer profile arm is that aluminium is square Sleeve pipe, is vertically connected to the support connecting tube lateral surface；Interior shape material arm, is arranged in the outer profile arm；Z-direction lift servo electricity Machine, is arranged at outer profile arm top surface, and its output shaft couples reductor and ball screw stretches into interior shape material arm；Ball nut, is arranged In interior shape material arm upper end inwall, coordinate with ball screw, the mutual Z-direction for performing outer, inner profile arm is stretched；Proximity switch, is arranged In the outer profile arm outer wall top；Z axis rotate drive component, are arranged at the interior shape material arm lower end；Car body traveling roller rail Diatom, is arranged under T-shaped robot base's fixed frame crossbeam, arranges with the longitudinally fixed parallel track；It is rotatable Tire clamping device, is installed on the interior shape material arm lower end of the lifting leading arm, is arranged at the car body traveling roller railway line Side；Tire feed mechanism, is arranged at the car body traveling roller railway line side；Screw equilibrium automatic allocation device, is arranged In the car body traveling roller railway line side, with tire feed mechanism homonymy.

Further, it is provided with described interior shape material arm and inlays cylinder groove, the titanium of various outer diameter can be inlayed according to design requirement Golden axle.

Also, described Z axis rotate drive component includes servomotor and reductor.

Further, the rotatable tire clamping device includes that fixture fore beam, its central authorities set installation through-hole；Support Bearing, is arranged at the fixture fore beam front end face；Fixture electric rotating support；Servomotor, is arranged at the fixture electric rotating After support, its output shaft couples a reductor；Output end of reducer sets a gear；Fixture connecting seat, including a top board and connection In the vertically disposed end plate in top board front end；The end plate central authorities set through hole, before end plate is located at the spring bearing；Fixture electric rotating machine After seat is connected to top board, the gear is engaged with the spring bearing；Left and right clip claw assembly, is respectively arranged at fixture fore beam Both sides, the left and right clip claw assembly include that clamping seats are L-shaped；One side is located at fixture front stall back both sides, another lateral Before stretch out, the side sets through hole, and the lateral surface of correspondence through hole sets clamping cylinder installing plate；Slide rail and its top shoe, slide rail set It is placed on before the clamping seats side of fixture front stall back；Slide block is arranged on the fixture fore beam；Clamping cylinder, its Cylinder body is fixed on the clamping cylinder installing plate, and its piston rod end is connected to fixture fore beam front end face；Clamp sync block Component, is arranged at the fixture front stall back, and which includes, sync block, is a framework, and bottom is connected to fixture front stall backboard Face；Synchromesh gear is clamped, is arranged in the sync block framework by connecting shaft；Left and right synchronous tooth bar, one end is respectively protruding into together Synchromesh gear being clamped in step seat up and down, being engaged with the clamping synchromesh gear, the other end connects respectively positioned at fixture front stall back Clamping seats one end；Two clamping bar seat boards, are respectively arranged at the clamping seats front end；Clamping bar, is vertically installed in the clamping Pole socket front edge of board face；Sleeve, is arranged at the fixture fore beam installation through-hole；Rifle is tightened, the fixture fore beam peace is arranged at Dress through hole.

Preferably, the fixture fore beam front end face both sides set clamping ear mount, the clamping cylinder piston rod end connection The clamping ear mount.

Preferably, protective case is arranged outside the clamping bar.

Preferably, the clamping bar seat board is L-shaped, and its front end face sets a clamping bar up and down respectively.

Preferably, the sleeve is thunderbolt horse sleeve.

Preferably, the clamping bar seat board front end face sets optoelectronic switch.

Preferably, the clamping bar seat board front end face divides into proximity switch.

The screw equilibrium automatic supplier, including pedestal is vertically arranged a fixed plate thereon, and fixed plate central authorities set One centre bore, around the centre bore, is circumferentially uniformly arranged 4 guide holes, in each 2 guide holes arrangement up and down, arranges and lead in guide hole Set；Screw distribution plate, its central authorities arrange a rotating shaft, and the rotating shaft is arranged at the pedestal upper mounted plate centre bore；Screw distribution plate Circumferentially disposed 4 containing grooves of outer rim；Servo-drive rotating mechanism, including servomotor is arranged at the base fixing plate one Side, its output shaft and the shaft parallel；Two travelling gears, one of travelling gear are installed on the servomotor output On axle, another travelling gear is installed in the screw distribution plate rotating shaft, and two travelling gears are coupled by transmission belt；Screw is supplied To mechanism, including gripper shoe is vertically arranged at the pedestal upper mounted plate side, is arranged at an angle of 90 with fixed plate；In gripper shoe The correspondence screw distribution plate outer rim containing groove opens up a feedhole, and its length is matched with screw；Screw chute, its one end connect It is connected to the gripper shoe feedhole lateral surface, the downward-sloping arrangement of screw chute；Screw top-pushing mechanism, including, cylinder, its piston Boom end is connected to the back side of the pedestal upper mounted plate with respect to screw distribution plate；Top board, is installed on the cylinder block front end Face, piston rod pass through the ceiling center；On top board, 4 guide holes of the correspondence base fixing plate arrange 4 installation through-holes, and top board is leaned on 4 guideways are respectively provided with the installation through-hole of fixed plate side, and the guideway is inserted in leading for 4 guide holes of the fixed plate In set；4 push rods, are arranged in 4 guideways, and push rod front portion sets step, and push rod rear portion is arranged top pressure spring, top pressure Spring at front end is resisted against the step, and rear end is against top board.

In addition, also testing agency is aligned including screw, including fixed frame is set in parallel on the outside of the top board, passes through Both sides connecting rod is connected on the top board；4 detection bars, are arranged on the fixed frame, and 4 detection bars are corresponded on top board respectively 4 push rods.

The beneficial effects of the utility model：

The utility model changes the situation of the relatively independent execution of each performance element of former T-shaped boosting manipulator, perfect to use Mechanical intelligence brakes the pneumatic fine setting braking of replacement causes the not enough generation of efficiency, promotes traditional mode of production assembly line automatic to intelligence The upgrading transformation of production line, realizes and runs to modern mechanical intelligent coordination control behaviour by tradition by intensive labor's assembly manipulation The technological break-through that work runs, improves the intelligent effect that product transfer assembling is carried, improves working condition, reduce cost, Enhance product appearance visual, improve the appearance of product, increased the price of product.Solve high pollution, strong noise, height Work in the adverse circumstances that danger, high intensity etc. are manually difficult to carry out, optimizes producing line Intelligent Process Control, reduces in producing line Artificial intervention, correctly gathered data, analyze data, integral data in time, and then perform the management of overall process Data programming Control, lifts transfer assembling industry Intelligent assembly degree, reduces the delivery cycle, reduce consuming, and optimum management strengthens productivity.

Description of the drawings

Stereograms of the Fig. 1 for the utility model embodiment.

Front views of the Fig. 2 for the utility model embodiment.

A direction views of the Fig. 3 for Fig. 2.

Stereograms of the Fig. 4 for the utility model embodiment ZhongTXing robot transverse shifting rail set.

Fig. 5 is stereograms of the utility model embodiment ZhongTXing robot X to walking dolly.

Fig. 6 is the stereogram that the utility model embodiment ZhongTXing robot lifts leading arm.

Fig. 7 is the front view that the utility model embodiment ZhongTXing robot lifts leading arm.

A-A sectional views of the Fig. 8 for Fig. 7.

Fig. 9 is the stereogram of rotatable tire clamping device in the utility model embodiment.

Figure 10 is the front view of rotatable tire clamping device in the utility model embodiment.

Figure 11 is the stereogram (removal protective cover) of rotatable tire clamping device in the utility model embodiment.

Figure 12 is the top view of rotatable tire clamping device in the utility model embodiment.

Figure 13 is the sectional view of rotatable tire clamping device in the utility model embodiment.

Figure 14 is the stereogram of screw equilibrium automatic supplier in the utility model embodiment.

Figure 15 is the front view of screw equilibrium automatic supplier in the utility model embodiment.

A-A sectional views of the Figure 16 for Figure 15.

Figure 17 is the partial sectional view of screw equilibrium automatic supplier in the utility model embodiment.

B-B sectional views of the Figure 18 for Figure 15.

Figure 19 is the partial sectional view of screw equilibrium automatic supplier in the utility model embodiment.

Figure 20 is the partial sectional view of screw equilibrium automatic supplier in the utility model embodiment.

Specific embodiment

Referring to Fig. 1～Figure 20, a kind of Full-automatic tire assembly line of the present utility model, including：

T-shaped robot A, which includes,

Basic fixed frame 1, constitutes some portal parallel intervals by some columns 101 and the crossbeam being connected thereto 102 Arrangement is formed；

Two longitudinally fixed tracks 2,2 ', are set in parallel on the basic fixed frame 1 under some crossbeams 102, longitudinal direction Longitudinal rack 3 is set along its length under trapped orbit 2,2 '；Longitudinally fixed track adopts aluminium section bar；

Transverse shifting rail set 4, is arranged under two longitudinally fixed tracks 2,2 ', and which includes,

One mobility framework 41, is made up of first, second cross track, 411,412 and two tie-beam 413；First, second is horizontal Aluminium section bar is adopted to track；

Two U-shaped wheel groups 42,42 ', are installed on first, second liang of cross track 411, on 412 two ends, the U-shaped wheel group 42 (by taking U-shaped wheel group 42 as an example, similarly hereinafter) include a connecting support seat 421 and be arranged on end face two ends two scroll wheel groups 422, 422 ', wherein, scroll wheel groups wheel is respectively arranged in inside longitudinally fixed track 2, and wheel seat is fixed on connecting support seat 421； The mobility framework 41 is oriented to according to longitudinally fixed track 2,2 ' and vertically moves；

One synchronous drive shaft 43, by the fixed seat for being arranged at its both sides be installed in the mobility framework it is first horizontal It is on track 411, parallel with the first cross track 411；43 two ends of synchronous drive shaft set a Y-direction drive gear 44 respectively, and with this Engage with the longitudinal rack 3 under two longitudinally fixed tracks；

Y-direction servomotor 45, is arranged on the outside of first cross track 411, and 45 output shaft of Y-direction servomotor is by subtracting Fast machine 46 and the synchronous drive shaft 43 of driving member connection, are coordinated by driving synchronous drive shaft and Y-direction drive gear and longitudinal rack, So as to drive the mobility framework 41 rail-guided to vertically move according to longitudinally fixed；

Two cross spacings switch 47,47 ', is respectively arranged in the mobility framework both sides on the second cross track 412；

Horizontal tooth bar 48, is arranged under second cross track 412 along its length；

To walking dolly 5, under the transverse shifting rail set 4, which is connected X by two supports being vertically arranged Pipe 51 and fixed connecting plate 52 coordinate, and are anchored on 6 both sides of a lifting leading arm；Two 51 tops of support connecting tube are respectively provided with a U Type wheel group 53,53 ', the U-shaped wheel group 53 (by taking U-shaped wheel group 53 as an example, similarly hereinafter) include a connecting support seat 531 and are arranged on end Two scroll wheel groups 532,532 ' at face two ends, wherein, scroll wheel groups wheel be respectively arranged in first, second cross track 411, Inside 412, wheel seat is fixed on connecting support seat 531；

X is arranged on the fixed connecting plate 52 to servomotor 55, X to servo motor output shaft couple reductor and To drive gear 56, the X is coordinated with the horizontal tooth bar 48 one X to drive gear 56, so as to drive X to walking dolly 5 according to First, second liang of cross track 411,412 is oriented to and is X to movement, and together with lifting leading arm 6, performs and laterally walk；

The lifting leading arm 6, including,

Outer profile arm 61, is aluminium square casing, is vertically connected to support 51 lateral surface of connecting tube；

Interior shape material arm 62, is arranged in the outer profile arm 61；

Z-direction lift servo motor 63, is arranged at 61 top surface of outer profile arm, and its output shaft couples reductor and ball screw 64 Stretch into interior shape material arm 62；

Ball nut 65, is arranged at interior 62 upper end inwall of shape material arm, is coordinated with ball screw 64, performs outer, inner profile arm Mutual Z-direction stretch；

Proximity switch 66, is arranged at 61 outer wall top of the outer profile arm；

Z axis rotate drive component 67, are arranged at interior 62 lower end of shape material arm；

Car body traveling roller railway line B, is arranged under T-shaped robot A bases 1 crossbeam of fixed frame, vertical with described It is arranged in parallel to trapped orbit 2；

Rotatable tire clamping device 7, is installed on interior 62 lower end of shape material arm of the lifting leading arm 6, is arranged at described Car body traveling roller railway line B sides；

Tire feed mechanism C, is arranged at the car body traveling roller railway line B sides；

Screw equilibrium automatic allocation device 9, is arranged at the car body traveling roller railway line B sides, supplies machine with tire Structure C homonymies.

Further, it is provided with described interior shape material arm and inlays cylinder groove, the titanium of various outer diameter can be inlayed according to design requirement Golden axle.

Also, described Z axis rotate drive component includes servomotor and reductor.

In addition, described rotatable tire clamping device 7 includes,

Fixture fore beam 71, its central authorities set installation through-hole；

Spring bearing 72, is arranged at 71 front end face of fixture fore beam；

Fixture electric rotating support 73；

Servomotor 74, after being arranged at the fixture electric rotating support 73, its output shaft couples a reductor；Reductor is defeated Go out end and set a gear 75；

Fixture connecting seat 76, including a top board 761 and is connected to the vertically disposed end plate in 761 front end of top board 762；The end plate Central authorities set through hole, before end plate is located at the spring bearing 72；After fixture electric rotating support 73 is connected to top board 761, the gear 75 are engaged with the spring bearing 72；

Left and right clip claw assembly 77,77 ', is respectively arranged at 71 both sides of fixture fore beam, the left and right clip claw assembly 77 (with As a example by left and right clip claw assembly 77, similarly hereinafter) include,

Clamping seats 771, it is L-shaped；One side is located at 71 back side both sides of fixture fore beam, and opposite side is forward extended out, the side While setting through hole, the lateral surface of correspondence through hole sets clamping cylinder installing plate 772；

Slide rail 773 and its top shoe 774, slide rail 773 are arranged at before the clamping seats side at 71 back side of fixture fore beam Face；Slide block 774 is arranged on the fixture fore beam 71；

Clamping cylinder 775, its cylinder body are fixed on the clamping cylinder installing plate 772, and its piston rod end is connected to folder Tool 71 front end face of fore beam；

Synchronous holder assembly 776 is clamped, 71 back side of fixture fore beam is arranged at, which includes,

Sync block 7761, is a framework, and bottom is connected to fixture front stall back；

Synchromesh gear 7762 is clamped, is arranged in 7761 framework of the sync block by connecting shaft；

Left and right synchronous tooth bar 7763,7763 ', one end be respectively protruding in sync block 7761 clamp synchromesh gear 7763, Shang Xia 7763 ', engage with the clamping synchromesh gear 7763,7763 ', the other end connects respectively positioned at fixture front stall back 71 Clamping seats one end；

Two clamping bar seat boards 78, are respectively arranged at 771 front end of the clamping seats；

Clamping bar 79, is vertically installed in 78 front end face of clamping bar seat board；

Sleeve 80, is arranged at 71 installation through-hole of fixture fore beam；

Rifle 90 is tightened, 71 installation through-hole of fixture fore beam is arranged at；

Protective cover 12, covers at sleeve 80, tightens rifle portion after 90s, and 12 front end of protective cover is connected to the fixture fore beam 71 The back side.

Preferably, 71 front end face both sides of the fixture fore beam set clamping ear mount 712,775 piston rod of the clamping cylinder End connects the clamping ear mount 712.

Preferably, protective case 791 is arranged outside the clamping bar 79.

Preferably, the clamping bar seat board 78 is L-shaped, and its front end face sets a clamping bar up and down respectively.

Preferably, the sleeve 80 is thunderbolt horse sleeve.

Preferably, 71 front end face of clamping bar seat board sets optoelectronic switch 10.

Preferably, 71 front end face of clamping bar seat board divides into proximity switch 11.

Screw equilibrium automatic supplier 9 described in the utility model, which includes,

Pedestal 91, is vertically arranged a fixed plate 911 thereon, and 911 central authorities of fixed plate set a centre bore 9111, around the center Hole, is circumferentially uniformly arranged 4 guide holes 9112, in each 2 guide holes arrangement up and down, arranges guide pin bushing 912 in guide hole 9111；

Screw distribution plate 92, its central authorities arrange a rotating shaft 921, and the rotating shaft 921 is arranged at 91 upper mounted plate 911 of the pedestal Centre bore 9111；Circumferentially disposed 4 containing grooves 922 of 92 outer rim of screw distribution plate；

Servo-drive whirler 93, including,

Servomotor 931, is arranged at 91 fixed plate of the pedestal, 911 side, and its output shaft is parallel with the rotating shaft 921；

Two travelling gears 932,32 ', one of travelling gear 932 are installed on 931 output shaft of the servomotor, Another travelling gear 932 ' is installed in 92 rotating shaft 921 of the screw distribution plate, and two travelling gears 932,32 ' pass through transmission belt 933 connections；Screw feeding machine structure 94, including,

Gripper shoe 941, is vertically arranged at 91 upper mounted plate of the pedestal, 911 side, is arranged at an angle of 90 with fixed plate 911； In gripper shoe 941, the correspondence 92 outer rim containing groove 922 of screw distribution plate opens up a feedhole 9411, its length and screw 100 matchings；

Screw chute 942, its one end are connected to 941 feedhole of the gripper shoe, 9411 lateral surface, and screw chute 942 is downward It is in tilted layout；Screw top-pushing mechanism 95, including,

Cylinder 951, its piston rod end are connected to the back of the body of 91 upper mounted plate of the pedestal, 911 relative screw distribution plate 92 Face；

Top board 952, is installed on 951 cylinder body front end face of the cylinder, and piston rod is central through the top board 952；On top board 952 4 guide holes 9112 of solid 9 fixed boards 911 of the correspondence pedestal 91 arrange 4 installation through-holes 9521, and top board 952 leans on fixed plate 911 1 4 guideways 953 are respectively provided with side installation through-hole 9521, and the guideway 953 is inserted in 4 of the fixed plate 911 In the guide pin bushing 953 of guide hole 9112；

4 push rods 954, are arranged in 4 guideways 953, and 954 front portion of push rod sets step 9541, after push rod 954 Portion is arranged top pressure spring 955, and 955 front end of top pressure spring is resisted against the step 9541, and rear end is against top board 952.

Further, the screw equilibrium automatic supplier also aligns testing agency 96 including screw, and which includes, fixed frame Frame 961, is set in parallel on the outside of the top board 952, is connected on the top board 952 by both sides connecting rod 962；4 detection bars 963, it is arranged on the fixed frame 961,4 detection bars 963 correspond to 4 push rods 954 on top board 952 respectively.

Further, the screw equilibrium automatic supplier also includes case 97, and the servo-drive on pedestal 91 is rotated Mechanism 93, screw feeding machine structure 94, the cover of screw feeding machine structure 94 set, and 97 front end face of case sets the logical of 4 correspondence outputs of screw 100 Hole.

Tire assembling screw Jing screw rotation vibrations feeders drive, and tire is assembled the neat feeding screw of screw effectively Chute, puts in order；

When screw is sent in equalizing distributor equalizing tank, origin detection guider can detect its position signalling and incite somebody to action Its screw coordinates information transmission to control system with groove position, and when detection meets the requirements, control system can be wanted according to setting program Ask, command information is fed back to into servo-drive whirligig, after servo-drive whirligig receives instruction, according to the journey of setting Sequence, carries out balanced drive rotation and screw successively equilibrium is positioned in equalizing tank, complete effective sustainable supply of screw；

When detection information is undesirable, i.e., screw placement location without in place, can be believed by control system by exceptional instructions Breath feeds back to servo-drive whirligig, after servo-drive whirligig receives instruction, according to the program parameter of setting, does not enter Row balanced drive rotates.

When screw detection device detects the complete information of the balanced arrangement of four equalizing tank internal threads of servo-drive whirligig When, this detection information can be timely fed back to send instructions to visual-alignment control, by visual-alignment under control system, control system Four equalizing tank internal threads of servo-drive whirligig balanced arrangement position is carried out vision and shoots and feed back to wheel by control device Tire fixture tightening system, is completed screw and effective is docked with tighten rifle.

When tighten rifle group and screw equilibrium assignment disk complete screw with tighten rifle effectively align to be connected and connect, supply with reference to tire After being given to position, feed back after testing, control system gives an order T-shaped robot；

After T-shaped robot is connected to execute program instructions, its visual sensing system can automatically snap tire hole position information, and will To control system, control system Jing converts tire screw hole site feedback of the information automatically, and accurate information is fed back to T-shaped machinery People；

T-shaped robot is performed automatically, and the screw for aligning is inserted in tire location hole, now when tire hole position and screw are complete After full matching is aligned, detection means can be by its feedback of the information to control system, and control system will give an order T-shaped robot, T-shaped Robot performs the pneumatic control valve of tire clamping device, starts cylinder, performs the clamping of tire；

When tire clamping reaches desirability, its feedback of the information to control system, control system can be ordered by detection means To T-shaped robot, its visual sensing system can automatically snap automobile tire hole position information, and automobile tire screw hole site of converting Information, performs the tracking of automobile tire position of mounting hole, and during tracking, automobile tire can be revolved in T-shaped robot and tire Turn under the interaction of clamping device, perform the horizontal and vertical rotation of tire, when tire hole position and automobile tire mounting hole site After aligning, tighten rifle execution rotation and tighten function, complete the automatic assembling of tire.

The utility model Full-automatic tire assembly line is that one kind is automatically fed from tire, screw automatically feeds, car body is automatic Supply waits until that tire is automatically finished an assembling modernization high-tech industry chain only, and sliver is without the need for manually operating and joining With, completely with " Full-automatic tire assembly line " as hinge, perform and each integrated unit flexible docking, realize the full-automatic of tire Assembling.

Claims (12)

1. a kind of Full-automatic tire assembly line, it is characterised in that include,

T-shaped robot, which includes,

Basic fixed frame, constitutes some portal parallel interval arrangements by some columns and the crossbeam being connected thereto and forms；

Two longitudinally fixed tracks, are set in parallel on the basic fixed frame under some crossbeams, longitudinally fixed track lower edge Length direction sets longitudinal rack；Longitudinally fixed track adopts aluminium section bar；

Transverse shifting rail set, is arranged under two longitudinally fixed tracks, and which includes,

One mobility framework, is made up of first, second cross track and two tie-beams；First, second cross track adopts aluminium section bar；

Two U-shaped wheel groups, are installed on first, second liang of cross track two ends, the U-shaped wheel group include a connecting support seat and Two scroll wheel groups at end face two ends are arranged on, wherein, scroll wheel groups wheel is respectively arranged in longitudinally fixed track interior, wheel seat It is fixed on connecting support seat；The mobility framework rail-guided is vertically moved according to longitudinally fixed；

One synchronous drive shaft, the first cross track being installed on by the fixed seat for being arranged at its both sides in the mobility framework On, it is parallel with the first cross track；Synchronous drive shaft two ends set a Y-direction drive gear respectively, and with this and two longitudinally fixed rails Longitudinal rack engagement under road；

Y-direction servomotor, is arranged on the outside of first cross track, and Y-direction servo motor output shaft passes through reductor and transmission The synchronous drive shaft of part connection, is coordinated by driving synchronous drive shaft and Y-direction drive gear and longitudinal rack, so as to drive the shifting Dynamic framework rail-guided is vertically moved according to longitudinally fixed；

Two cross spacings are switched, and are respectively arranged in the mobility framework both sides on the second cross track；

Horizontal tooth bar, is arranged under second cross track along its length；

, to walking dolly, under the transverse shifting rail set, which is by two support connecting tubes being vertically arranged and admittedly for X Determine connecting plate cooperation, be anchored on lifting leading arm both sides；Two support connecting tube tops are respectively provided with a U-shaped wheel group, the U-shaped wheel Group includes a connecting support seat and is arranged on two scroll wheel groups at end face two ends, and wherein, scroll wheel groups wheel is respectively arranged in Inside first, second cross track, wheel seat is fixed on connecting support seat；

X is arranged on the fixed connecting plate to servomotor, and X couples reductor and an X to driving to servo motor output shaft Gear, the X are coordinated to drive gear with the horizontal tooth bar, so as to drive X to walking dolly according to first, second liang of cross track Guiding is X to movement, and together with lifting leading arm, performs and laterally walk；

The lifting leading arm, including,

Outer profile arm, is aluminium square casing, is vertically connected to the support connecting tube lateral surface；

Interior shape material arm, is arranged in the outer profile arm；

Z-direction lift servo motor, is arranged at outer profile arm top surface, and its output shaft couples reductor and ball screw stretches into interior shape material Arm；

Ball nut, is arranged at interior shape material arm upper end inwall, coordinates with ball screw, performs outer, the mutual Z-direction of inner profile arm and stretches Contracting；

Proximity switch, is arranged at the outer profile arm outer wall top；

Z axis rotate drive component, are arranged at the interior shape material arm lower end；

Car body traveling roller railway line, is arranged under T-shaped robot base's fixed frame crossbeam, with the longitudinally fixed rail Road is arranged in parallel；

Rotatable tire clamping device, is installed on the interior shape material arm lower end of the lifting leading arm, is arranged at the car body movement Cylinder railway line side；

Tire feed mechanism, is arranged at the car body traveling roller railway line side；

Screw equilibrium automatic allocation device, is arranged at the car body traveling roller railway line side, with tire feed mechanism homonymy.

2. Full-automatic tire assembly line as claimed in claim 1, it is characterised in that in the interior shape material arm of the T-shaped robot It is provided with and inlays cylinder groove, the titanium axle of various outer diameter can be inlayed according to design requirement.

3. Full-automatic tire assembly line as claimed in claim 1, it is characterised in that the Z axis of the T-shaped robot are rotated and driven Component includes servomotor and reductor.

4. Full-automatic tire assembly line as claimed in claim 1, it is characterised in that the rotatable tire clamping device bag Include,

Fixture fore beam, its central authorities set installation through-hole；

Spring bearing, is arranged at the fixture fore beam front end face；

Fixture electric rotating support；

Servomotor, after being arranged at the fixture electric rotating support, its output shaft couples a reductor；Output end of reducer sets one Gear；

Fixture connecting seat, including a top board and is connected to the vertically disposed end plate in top board front end；The end plate central authorities set through hole, end plate Before the spring bearing；After fixture electric rotating support is connected to top board, the gear is engaged with the spring bearing；

Left and right clip claw assembly, is respectively arranged at fixture fore beam both sides, and the left and right clip claw assembly includes,

Clamping seats, it is L-shaped；One side is located at fixture front stall back both sides, and opposite side is forward extended out, and the side sets through hole, The lateral surface of correspondence through hole sets clamping cylinder installing plate；

Slide rail and its top shoe, slide rail are arranged at before the clamping seats side of fixture front stall back；Slide block is arranged at institute State on fixture fore beam；

Clamping cylinder, its cylinder body are fixed on the clamping cylinder installing plate, before its piston rod end is connected to fixture fore beam End face；

Synchronous holder assembly is clamped, the fixture front stall back is arranged at, which includes,

Sync block, is a framework, and bottom is connected to fixture front stall back；

Synchromesh gear is clamped, is arranged in the sync block framework by connecting shaft；

Left and right synchronous tooth bar, one end are respectively protruding in sync block and clamp synchromesh gear up and down, engage with the clamping synchromesh gear, The other end connects respectively positioned at clamping seats one end of fixture front stall back；

Two clamping bar seat boards, are respectively arranged at the clamping seats front end；

Clamping bar, is vertically installed in the clamping bar seat board front end face；

Sleeve, is arranged at the fixture fore beam installation through-hole；

Rifle is tightened, the fixture fore beam installation through-hole is arranged at.

5. Full-automatic tire assembly line as claimed in claim 4, it is characterised in that the fixture fore beam front end face both sides set Ear mount is clamped, the clamping cylinder piston rod end connects the clamping ear mount.

6. Full-automatic tire assembly line as claimed in claim 4, it is characterised in that be arranged protective case outside the clamping bar.

7. Full-automatic tire assembly line as claimed in claim 4, it is characterised in that the clamping bar seat board is L-shaped, its front end Face sets a clamping bar up and down respectively.

8. Full-automatic tire assembly line as claimed in claim 4, it is characterised in that the sleeve is thunderbolt horse sleeve.

9. Full-automatic tire assembly line as claimed in claim 4, it is characterised in that the clamping bar seat board front end face sets photoelectricity Switch.

10. Full-automatic tire assembly line as claimed in claim 4, it is characterised in that the clamping bar seat board front end face is divided into Proximity switch.

11. Full-automatic tire assembly lines as claimed in claim 1, it is characterised in that the screw equilibrium automatic supplier, Including,

Pedestal, is vertically arranged a fixed plate thereon, and fixed plate central authorities set a centre bore, around the centre bore, circumferentially uniformly set 4 guide holes are put, in each 2 guide holes arrangement up and down, guide pin bushing is set in guide hole；

Screw distribution plate, its central authorities arrange a rotating shaft, and the rotating shaft is arranged at the pedestal upper mounted plate centre bore；Screw distribution plate Circumferentially disposed 4 containing grooves of outer rim；

Servo-drive rotating mechanism, including,

Servomotor, is arranged at the base fixing plate side, its output shaft and the shaft parallel；

Two travelling gears, one of travelling gear are installed on the servo motor output shaft, and another travelling gear is pacified Loaded in the screw distribution plate rotating shaft, two travelling gears are coupled by transmission belt；

Screw feeding machine structure, including,

Gripper shoe, is vertically arranged at the pedestal upper mounted plate side, is arranged at an angle of 90 with fixed plate；In gripper shoe, correspondence is described Screw distribution plate outer rim containing groove opens up a feedhole, and its length is matched with screw；

Screw chute, its one end are connected to the gripper shoe feedhole lateral surface, the downward-sloping arrangement of screw chute；

Screw top-pushing mechanism, including,

Cylinder, its piston rod end are connected to the back side of the pedestal upper mounted plate with respect to screw distribution plate；

Top board, is installed on the cylinder block front end face, and piston rod passes through the ceiling center；On top board, the correspondence pedestal is fixed 4 guide holes of plate arrange 4 installation through-holes, and top board is by being respectively provided with 4 guideways, the guiding at the installation through-hole of fixed plate side Axle sleeve is inserted in the guide pin bushing of 4 guide holes of the fixed plate；

4 push rods, are arranged in 4 guideways, and push rod front portion sets step, and push rod rear portion is arranged top pressure spring, top pressure Spring at front end is resisted against the step, and rear end is against top board.

12. Full-automatic tire assembly lines as claimed in claim 11, it is characterised in that also align testing agency including screw, Including,

Fixed frame, is set in parallel on the outside of the top board, is connected on the top board by both sides connecting rod；

4 detection bars, are arranged on the fixed frame, and 4 detection bars correspond to 4 push rods on top board respectively.