CN207759714U - Tire stacking positioning auxiliary device - Google Patents

Abstract

The utility model discloses a kind of tire stacking positioning auxiliary devices, set on the output end of tire conveying device, delivery section including frame body, on the frame body, the positioning detection mechanism of one end far from the tire conveying device and on the frame body and for being oriented to tire so that tire is directed to the guiding mechanism being delivered at the positioning detection mechanism position on the frame body, the delivery section and positioning detection mechanism are electrically connected with the master control set of the robot pile ink recorder.Tire stacking positioning auxiliary device can complete being accurately positioned for the longitudinal and transverse direction of tire, so that this be accurately positioned it is consistent with the manipulator crawl position being arranged in robot stacking machine, so as to ensure to grab tire each time, in order to which subsequent stacking works.

Description

Tire stacking positioning auxiliary device

Technical field

The utility model is related to a kind of tire stacking positioning auxiliary devices, more particularly to one kind is in robot stacking machine The tire stacking positioning auxiliary device of positioning auxiliary is carried out before capturing the tire after assembly before stacking to tire.

Background technology

In traditional technology, when tire is after assembling line assembles, it is manually positioned over workshop somewhere, in order to machine Device people's stacking machine stacking.This mode, more waste of manpower, it is extremely inefficient, and position position error is big, when positioning is inaccurate When, the mechanism hand of robot stacking machine cannot then capture tire, be susceptible to the problems such as mistake captures, stacking efficiency is low in this way.

Utility model content

In view of this, the utility model it is really necessary to provide it is a kind of when tire from assembling line out after i.e. to tire into Row positioning, the tire stacking positioning auxiliary device accurately captured in order to robot stacking machine.

A kind of tire stacking positioning auxiliary device is provided, be set to tire conveying device output end, including frame body, be set to institute State the delivery section on frame body, on the frame body far from the tire conveying device one end positioning detection mechanism and set In on the frame body and for being oriented to tire so that tire is directed to is delivered at the positioning detection mechanism position Guiding mechanism, the delivery section and positioning detection mechanism are electrically connected with the master control set of the robot pile ink recorder.

Further, the frame body has two to be located at same level and parallel top crossbearer；

The delivery section includes several first rollers being arranged at intervals at along the top crossbearer length direction between two top crossbearers Cylinder, the both ends of the every 1 first roller vertical connection with two top crossbearer respectively；The delivery section further includes for driving The rotation of the first roller is stated so that the tire to be delivered to the driving portion at the positioning detection mechanism position, the driving portion and institute State master control set electrical connection；

Several first rollers of the delivery section and the second roller of the tire conveying device is generally aligned in the same plane and phase It is mutually parallel, in several first rollers of the delivery section, one first roller close to the tire conveying device output end and institute State the linking of the second roller；

Second roller of the delivery section on one end of the tire conveying device and the tire conveying device is held in the mouth It connects, the one end of the delivery section far from the tire conveying device is located at the medial surface of the positioning detection mechanism.

Further, also there is the frame body top to indulge frame, and the both ends that frame is indulged on the top are remote with the two top crossbearer respectively Rear end connection from the tire conveying device；The positioning detection mechanism includes being set to the first positioning that the top is indulged on frame to examine It surveys mechanism and indulges second positioning detection mechanism of one end of frame close to the top on the second top crossbearer in two top crossbearers；

First positioning detection mechanism includes the first mounting structure being erected on the vertical frame in the top, is set to described first And it can be along the first push plate of the swing of tire conveying direction, the separate conveying in first push plate on mounting structure First occlusion part of the lateral surface in portion and set on it is described top indulge frame on corresponding to first occlusion part position at first Sensor；When first push plate is pushed out by the tire, the first sensor detects corresponding first signal, and It is sent to the master control set, the master control set controls the driving portion according to the first signal that the first sensor is sent Stop, and the tire is made to move at second positioning detection mechanism.

Further, first mounting structure includes the first column being erected on the vertical frame in the top, by described first The top of column to horizontal-extending first mounting rod in the delivery section direction, be articulated in first mounting rod towards described defeated The first swing rod that send the front end in portion direction and can be swung along the tire conveying direction；First push plate is set to described first Can be swung along the length direction of the frame body on swing rod.

Further, the front end of first mounting rod is provided with two first installation journal stirrups, in described two first installation branch One first perforation is offered on ear respectively, the both ends of one first pivot are arranged in first on described two first installation journal stirrups respectively In perforation, the length direction of first pivot is parallel with the length direction that frame 143 is indulged on the top；The upper end of first swing rod One first pivoted hole is offered, first pivoted hole is arranged in first pivot and positioned at described two first installation journal stirrups Between.

Further, first mounting structure is at least two groups, and the first mounting structure of at least two groups is along the top The length direction interval setting of vertical frame, first push plate are connect with the first swing rod of the first mounting structure of at least two groups, So that the length direction that first push plate indulges frame along the top is set on first mounting structure.

Further, second positioning detection mechanism includes on the second top crossbearer being erected in two top crossbearers close to institute Second mounting structure of one end of the vertical frame in top is stated, is set on second mounting structure and can be hung down along with second top crossbearer The second push plate that straight direction is swung, the lateral surface far from the first top crossbearer in two top crossbearers in second push plate Second occlusion part and set on it is described second top crossbearer on corresponding to second occlusion part position at second sensor；When When the tire is moved to second pushing plate position and pushes out second push plate, the second sensor detects phase Second signal is answered, and is sent to the master control set, the second signal that the master control set is sent according to the second sensor It controls robot stacking machine and captures the tire.

Further, second mounting structure includes the second column being erected on the crossbearer of second top, by described The top of second column to horizontal-extending second mounting rod in first top crossbearer direction, be articulated in second mounting rod court The front end for pushing up crossbearer direction to described first and the second swing rod that can be swung along the direction vertical with the second top crossbearer；Institute The second push plate is stated on second swing rod can be swung along the width direction of the frame body.

Further, the front end of second mounting rod is provided with two second installation journal stirrups, in described two second installation branch One second perforation is offered on ear respectively, the both ends of one second pivot are arranged in second on described two second installation journal stirrups respectively In perforation, the length direction of second pivot is parallel with the second top length direction of crossbearer；Second swing rod it is upper End offers one second pivoted hole, and second pivoted hole is arranged in second pivot and positioned at described two second installation branch Between ear.

Further, second mounting structure is at least two groups, and the second mounting structure of at least two groups is along described the The length direction interval setting of two top crossbearers, second push plate and the second swing rod of the second mounting structure of at least two groups connect It connects, so that the length direction that second push plate indulges frame along the top is set on second mounting structure.

The tire stacking positioning auxiliary device of the utility model, on frame body setting be connected with the tire conveying device Delivery section so that tire be assembled complete after can smooth out move in the delivery section, leaned on by being set on frame body both sides The tire is directed to and the first positioning detection mechanism by nearly two first guiding group of the tire conveying device and the second guiding group The position to match, so that tire is accurately delivered at the position of the first positioning detection mechanism by delivery section, so that First positioning detection mechanism is able to detect that tire, after the first positioning detection mechanism detects tire, sends out the first signal extremely Master control set, master control set control tire move at the position of the second positioning detection mechanism, in this way, i.e. complete tire longitudinal direction and Lateral is accurately positioned, this be accurately positioned it is consistent with the manipulator crawl position being arranged in robot stacking machine, so as to Guarantee grabs tire each time, in order to which subsequent stacking works.

Description of the drawings

Fig. 1 is the structural schematic diagram of one embodiment of the utility model tire stacking positioning auxiliary device.

Fig. 2 is the stereogram at another visual angle in Fig. 1.

Fig. 3 is the enlarged drawing of the local A of Fig. 2.

Fig. 4 is the stereogram at another visual angle in Fig. 1.

Fig. 5 is the enlarged drawing of part B in Fig. 4.

Fig. 6 is the structural schematic diagram of transplanting mechanism.

Fig. 7 is the cooperation schematic diagram of transplanting mechanism and frame body.

Specific implementation mode

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work The every other embodiment obtained, shall fall within the protection scope of the present invention.

Fig. 1 and Fig. 5 is referred to, the tire stacking positioning auxiliary device of the utility model is set to the defeated of tire conveying device Outlet, including frame body 1, the delivery section 2 on the frame body 1, the separate tire conveying device on the frame body 1 The positioning detection mechanism of one end and on the frame body 1 and for being oriented to tire so that tire is directed to is delivered to Guiding mechanism 4 at the positioning detection mechanism position, the delivery section 2 and positioning detection mechanism with the robot pile The master control set of ink recorder is electrically connected.

The tire conveying device is tire assembling line, and the initiating terminal of the tire conveying device is tire assembly Starting point, end be tire molding assembly after output end, the conveying of the tire conveying device be provided on the way it is several from Dynamicization equipment carries out automatic assembling to tire, and tire assembling line belongs to existing conventional means, therefore and will not be described here in detail.

Four piece stands of the frame body 1 including rectangular chassis 10, four corner locations for being erected on the rectangular chassis 10 12 and the upper frame 14 set on the upper end of four stands 12.The chassis 10 includes positioned at same level and being mutually parallel The first bottom crossbearer 101 and the second bottom crossbearer 102, be connected to first bottom crossbearer 101 and the second bottom crossbearer 102 close to tire The vertical frame 103 in first bottom of one end (front end) of conveying device is connected to first bottom crossbearer 101 and the second bottom crossbearer 102 far Frame 104 is indulged at second bottom of one end (rear end) from the tire conveying device, and first bottom crossbearer 101 is horizontal with second bottom The equal length that frame 104 is indulged at 103 and second bottom of frame, first bottom crossbearer 101 are indulged in the equal length of frame 102, first bottom And second the length of bottom crossbearer 102 be more than the first bottom and indulge the length that frame 104 is indulged at 103 and second bottom of frame.Four stands 12 divide It is not erected on the both ends of the first bottom crossbearer 101, the second bottom crossbearer 102.The upper frame 14 includes being located at first bottom crossbearer 101 Top and first top in parallel crossbearer 141, positioned at second bottom crossbearer 102 above and in parallel second pushes up crossbearer It 142 and is connected to first top crossbearer 141 and second and pushes up the one end (rear end) of crossbearer 142 far from the tire conveying device Top indulge frame 143, first top crossbearer 141, second pushes up crossbearer 142 and top indulges frame and 143 is respectively positioned on same level.It is described The both ends of first top crossbearer 141 are connect with the top of two stands 12 at 101 both ends of the first bottom crossbearer respectively, and second top is horizontal Frame 142 is connect with the top of two stands 12 at the both ends of the first bottom crossbearer 101 respectively.First top crossbearer 141 and second The length and the length of first bottom crossbearer 101 and the second bottom crossbearer 102 for pushing up crossbearer 142 match, and frame 143 is indulged on the top The length that length indulges frame 104 with second bottom matches.To sum up, the length direction of the frame body 1 and tire conveying direction phase It answers or unanimously.

The delivery section 2 includes several first rollers being arranged at intervals at along the top crossbearer length direction between two top crossbearers Cylinder 21, the both ends of described every 1 first roller 21 vertical connection with two top crossbearer respectively, and can turn around Pivot Point Center It is dynamic；Several first rollers 21 of the delivery section 2 and the second roller of the tire conveying device are generally aligned in the same plane and mutually It is parallel, in several first rollers 21 of the delivery section 2, close to the tire conveying device output end one first roller 21 with Second roller linking (parallel spacing i.e. between one first roller 21 and second roller of second roller and Spacing between per two first adjacent rollers 21 matches), in this way, the tire after molding assembly can be enable to smoothly transit On to the delivery section 2.The delivery section 2 in one end of the tire conveying device and the tire conveying device the Two rollers are connected, and the one end of the delivery section 2 far from the tire conveying device is located at the medial surface of the positioning detection mechanism.

The delivery section 2 further includes for driving the rotation of the first roller 21 the tire is delivered to the positioning Driving portion (not shown) at testing agency position, the driving portion are electrically connected with the master control set.First roller 21 can be around its axis rotation, when the output end of the tire from the tire conveying device is defeated under the driving of the driving portion When sending to the front end of the delivery section 2, drive the tire to after frame body 1 by the autorotation of each first roller 21 The positioning detection mechanism at end moves.

In the present embodiment, one is provided with for examining close to the tip position of the tire conveying device on the frame body 1 The tire sensor (not shown) for surveying the tire, when the tire is delivered to the delivery section by the tire conveying device When 2 front end, the tire sensor detects tire signal and is sent to the master control set, and the master control set controls The driving portion drives first roller 21 to rotate.

Detection and localization signal is sent to the master control by the positioning detection mechanism for being positioned to the tire Device.The positioning detection mechanism includes being set to the top to indulge the first positioning detection mechanism 5 on frame 143 and push up set on second Second positioning detection mechanism 6 of one end of frame 143 is indulged on crossbearer 142 close to the top.Wherein：

First positioning detection mechanism 5 includes being erected on first mounting structure 51 pushed up on vertical frame 143, being set to institute State on the first mounting structure 51 and can along the length direction swing of the frame body 1 the first push plate 52, be set to described the First occlusion part 53 of the trailing flank far from the delivery section 2 and being indulged set on the top corresponds on frame 143 in one push plate 52 First sensor 54 at the position of first occlusion part 53；When first push plate 52 is pushed backward by the tire, The first sensor 54 detects corresponding first signal, and is sent to the master control set, and the master control set is according to The first signal that first sensor 54 is sent makes the tire move at second positioning detection mechanism 6.

In the present embodiment, first mounting structure 51 is two groups, and two group of first mounting structure 51 indulges frame 143 along the top Length direction interval setting.Two group of first mounting structure 51 includes being erected on the top is indulged on frame 143 first to stand Column 511, from the top of first column 511 to horizontal-extending first mounting rod 512 in 2 direction of the delivery section, be articulated in First mounting rod 512 towards 2 direction of the delivery section front end and can be put along the vertical direction of frame 143 is indulged with the top The first dynamic swing rod 513；First push plate 52 is set on first swing rod 513 with can be along the length side of the frame body 1 It is swung to (i.e. the conveying direction of tire).In the present embodiment, first push plate 52 and two group of first mounting structure 51 First swing rod 513 connects, so that the length direction that first push plate 52 indulges frame 143 along the top is set to first peace On assembling structure 51.Intelligible, in other examples, first mounting structure 51 can also be more than two.

Further, the front end of first mounting rod 512 is provided with two first installation journal stirrups 515, described two first One first perforation 516 is offered on installation journal stirrup 515 respectively, the both ends of one first pivot are arranged in described two first installations respectively In the first perforation 516 on journal stirrup 515, the length direction of first pivot is parallel with the length direction that frame 143 is indulged on the top； The upper end of first swing rod 513 offers one first pivoted hole (not shown), and first pivoted hole is arranged in described first In pivot and between described two first installation journal stirrups 515.

In the present embodiment, first occlusion part 53 is the first block, and the front end of first block is pushed away with described first The rear end level of the trailing flank vertical connection of plate 52, first block extends back.The first sensor 54 connects for first Nearly switch sensor, the test side of first approach switch sensor are located at the side of first block, and described first The test side of sensor 54 is located at the rear of first block, i.e., the test side of described first approach switch sensor is located at institute State the side rear rather than dead astern of the first block.When the tire pushes first push plate 52, first block is backward Mobile, to block the test side of first approach switch sensor, first approach switch sensor detects described After first block, corresponding first signal is sent to the master control set, after the master control set receives signal, that is, controls institute The driving portion for stating delivery section 2 stops driving, to make the tire be scheduled at first testing agency position；The master control Device controls the tire and moves at 6 position of the second positioning detection mechanism again.

In the present embodiment, several multi-directional ball (oxen are provided on the leading flank (i.e. medial surface) of first push plate 52 Eye), several multi-directional balls are set up in parallel along the length direction of first push plate 52.When master control set control is corresponding When mechanism is so that the tire is moved at 6 position of the second positioning detection mechanism, the tire and described first can be reduced Frictional force when being in direct contact of push plate 52, what the multi-directional ball can be more preferable, more effortless makes tire be moved.

Second positioning detection mechanism 6 includes being erected on the crossbearer 142 of second top to indulge frame 143 close to the top Second mounting structure 61 of one end, be set to second mounting structure 61 on and can along with it is described second top crossbearer 142 it is vertical Direction swing the second push plate 62, in second push plate 62 far from first top crossbearer 141 lateral surface second hide Stopper 63 and set on it is described second top crossbearer 142 on corresponding to second occlusion part 63 position at second sensor 64；When the tire is moved to 62 position of the second push plate and pushes out second push plate 62, second sensing Device 64 detects corresponding second signal, and is sent to the master control set, and the master control set is according to the second sensor 64 The second signal control robot stacking machine of transmission captures the tire.

In the present embodiment, second mounting structure 61 is two groups, and two group of second mounting structure 61 is horizontal along second top The length direction interval of frame 142 is arranged.Two group of second mounting structure 61 includes being erected on the crossbearer 142 of second top The second column 611, from the top of second column 611 to horizontal-extending second peace in first top crossbearer 141 direction Dress bar 612, be articulated in second mounting rod 612 towards the front end in first top crossbearer 141 direction and can along with it is described The second swing rod 613 that the vertical direction of second top crossbearer 142 is swung；Second push plate 62 is set on second swing rod 613 Can be swung along the width direction (length direction for pushing up vertical frame 143) of the frame body 1.In the present embodiment, second push plate 62 connect with the second swing rod 613 of two group of second mounting structure 61, so that second push plate 62 is along second top The length direction of crossbearer 142 is set on second mounting structure 61.It is intelligible, in other examples, described Two mounting structures 61 can also be more than two.

Further, the front end of second mounting rod 612 is provided with two second installation journal stirrups 615, described two second One second perforation 616 is offered on installation journal stirrup 615 respectively, the both ends of one second pivot are arranged in described two second installations respectively In the second perforation 616 on journal stirrup 615, the length direction of the length direction of second pivot and second top crossbearer 142 It is parallel；The upper end of second swing rod 613 offers one second pivoted hole, and second pivoted hole is arranged in second pivot In and positioned at described two second installation journal stirrups 615 between.

In the present embodiment, second occlusion part 63 is the second block, and the front end of second block is pushed away with described second The rear end level of the lateral surface vertical connection of plate 62, second block extends back.The second sensor 64 connects for second Nearly switch sensor, the test side of second approach switch sensor are located at the side of second block, and described second The test side of sensor 64 is located at the rear of second block, i.e., the test side of described second approach switch sensor is located at institute State the side rear rather than dead astern of the second block.When the tire pushes second push plate 62, second block is backward Mobile, to block the test side of second approach switch sensor, second approach switch sensor detects described After second block, corresponding second signal is sent to the master control set, after the master control set receives signal, described in control The manipulator of robot stacking machine captures the tire to carry out stacking.

Intelligible, in other examples, the first positioning detection mechanism 5 can be directly arranged at the top and indulge frame On 143 at the position of second positioning detection mechanism 6, so that the tire reaches the first positioning detection mechanism 5 When pushing first push plate 52, the side of tire also pushes out the second push plate 62 simultaneously, in this way, the first positioning detection mechanism 5 and second positioning detection mechanism 6 signal detected is sent to the master control set to notify the master control set tire Location information, the master control set can be driven manipulator and capture the tire after receiving.

The guiding mechanism 4 includes being set to be symmetrically set on the crossbearer 142 of the first top top of crossbearer 141 and second close to institute State the first guiding group 41 and the second guiding group 42 of one end of tire conveying device.

The first guiding group 41 include along it is described first top crossbearer 141 length direction be set to it is described first top crossbearer Upper table on 141 close to first guide plate 411 of one end of the tire conveying device and set on first guide plate 411 Close to its inside (side for pushing up crossbearer 142 towards second) several first directive wheel 412 on face.First guide plate 411 Direction of the inside towards the first positioning detection mechanism 5 and the inwardly inclination (to the direction of the second top crossbearer 142), described several first Directive wheel 412 is arranged at intervals at along the interior direction of first guide plate 411 on first guide plate 411, in this way, described The gradient of first directive wheel 412 and the homonymy plane inclination of first guide plate 411 match, and described several first The medial surface (inside rolling surface) of directive wheel 412 is more than the medial surface of first guide plate 411.

The second guiding group 42 is symmetricly set on the first guiding group 41 on the second top crossbearer 142, and described second Guiding group 42 includes being set on the crossbearer 142 of second top close to the wheel along the length direction of second top crossbearer 142 Second guide plate 421 of one end of tire conveying device and its close inside on the upper surface of second guide plate 421 (side for pushing up crossbearer 141 towards first) several second directive wheels.The inside of second guide plate 421 is towards the first positioning inspection It surveys the direction of mechanism 5 and inwardly tilts (Xiang the direction of the first top crossbearer 141), several second directive wheels are led along described second Be arranged at intervals on second guide plate 421 to the interior direction of plate 421, in this way, the gradient of second directive wheel with The homonymy plane inclination of second guide plate 421 matches, and the medial surface (inside of several second directive wheels 422 Rolling surface) more than the medial surface of second guide plate 421.

One first directive wheel 412 positioned at the rear end (close to one end of the first positioning detection mechanism 5) of the first guide plate 411 And the diameter of the spacing and tire between one first directive wheel 412 of the rear end of the second guide plate 421 matches, and And in the width direction of the frame body 1, the position and described first of one first directive wheel 412 of 411 rear end of the first guide plate An end position in push plate 52 close to the first top crossbearer 141 matches, one second directive wheel 422 of 421 rear end of the second guide plate Position and in second push plate 62 close to second top crossbearer 142 an end position match, in this way, when tire pass through first When two directive wheel of 421 rear end of guide plate 411 and the second guide plate, and due to the first directive wheel of the corresponding guide plate rear end 412 and second the position of position and the both ends of the first push plate 52 of directive wheel 422 match, after guiding, the tire exists The position of the width direction of the frame body 1 matches with the position where the first push plate 52, and therefore, tire can be directed to conveying To the position of first push plate 52.

In the present embodiment, the first guiding group 41 further includes being set on the crossbearer 141 of first top to lead positioned at first To the third directive wheel 413 of 411 front position of plate, in the width direction of the frame body 1, the slightly position of the third directive wheel 413 In close to the outside of its one first directive wheel 412.The second guiding group 42 further includes being symmetrically disposed on the second top crossbearer 142 On the 4th directive wheel 414, in the width direction of the frame body 1, the 4th directive wheel 414 is slightly located at close to its 1 the The outside of two directive wheels 422.

In the present embodiment, it is right against at the position of second positioning detection mechanism 6 and sets on the crossbearer 142 of second top It is equipped with anti-drop structure.The anti-drop structure be interval be set to second crossbearer on runner, the height of the runner with it is described The height of tire matches to prevent tire from being fallen from the side, and the runner can be connect with reducing with tire around its axis rotation Frictional force after touch, contributes to tire to move.

The tire stacking positioning auxiliary device of the utility model is arranged on frame body 1 and is connected with the tire conveying device Delivery section 2 so that tire be assembled complete after can smooth out move in the delivery section 2, by being set to 1 both sides of frame body It is upper to be directed to the tire and the first positioning close to two first guiding group 41 of the tire conveying device and the second guiding group 42 The position that testing agency 5 matches, so that tire is accurately delivered to the position of the first positioning detection mechanism 5 by delivery section 2 Place is set, so that the first positioning detection mechanism 5 is able to detect that tire, after the first positioning detection mechanism 5 detects tire, hair Go out the first signal to master control set, master control set control tire moves at the position of the second positioning detection mechanism 6, in this way, i.e. complete It is accurately positioned at the longitudinal and transverse direction of tire, this is accurately positioned and the manipulator crawl position phase that is arranged in robot stacking machine Unanimously, so as to ensure to grab tire each time, in order to which subsequent stacking works.

The master control set, which can control a transfer mechanism, makes the tire be moved to second positioning detection mechanism 6 At position, a pushing mechanism can also be controlled, the tire is pushed at 6 position of the second positioning detection mechanism, it can also A toggle mechanism is controlled to dial to the tire at 6 position of the second positioning detection mechanism etc..When using pushing mechanism When, can a pushing mechanism be set on the second top crossbearer 142 far from second positioning detection mechanism 6, such as push away It takes offence cylinder, motor, hydraulic cylinder etc., as long as tire can be pushed in second positioning detection mechanism 6.Work as use When lever body, one driving lever of design and driving lever at the second top 142 position of crossbearer far from second positioning detection mechanism 6 Driving mechanism, the master control set controls the driving lever driving mechanism (such as motor) to make driving lever rotate, so as to dial Bar will be at the wheel tire top to 6 position of the second positioning detection mechanism.

In one embodiment, the tire by a transplanting mechanism 7 from current position (tire interface to the first push plate Position when 52) it moves at 6 position of the second positioning detection mechanism.In this embodiment, it is additionally provided on the frame body 1 flat Row is set to the first crossbearer 151 of 141 lower section of the first top crossbearer, parallel the second crossbearer that 142 lower section of crossbearer is pushed up set on described second 152。

Fig. 6 and Fig. 7 is referred to, first crossbearer, 151 and second crossbearer 152 is described for installing the transplanting mechanism 7 Transplanting mechanism 7 is located at described in being set on the first crossbearer 151 and the second crossbearer 152, so that the transplanting mechanism 7 is set to Lower section of the output section at the position of first positioning detection mechanism 5 is (i.e. when the tire interface to described first When push plate 52, the underface of the tire position).The transplanting mechanism 7 can along the frame body 1 width direction it is reciprocal It is mobile, and can lower movement in the vertical direction, be pierced by the output section to hold up the tire, to by the tire from working as Front position moves down after moving at 6 position of the second positioning detection mechanism, with the lower section for the delivery section 2 of retracting.Work as institute It states and touches second positioning detection mechanism 6 after tire is moved at 6 position of the second positioning detection mechanism, described second The second signal is sent to the master control set by positioning detection mechanism 6, and the master control set controls institute after receiving signal It states robot stacking machine and captures the tire according to commitment positions.

The transplanting mechanism 7 include rectangular frame 71, the rectangular frame 71 by the first opposite horizontal side frame 711, Second horizontal side frame 712, the first opposite longitudinal side frame 713 and the second longitudinal side frame 714 are enclosed.The first horizontal side frame 711 and Second horizontal side frame 712 is individually fixed on first crossbearer, 151 and second crossbearer 152, so that first longitudinal side frame 713 And second longitudinal side frame 714 across between the first crossbearer 151 and the second crossbearer 152.

The transplanting mechanism 7 further includes the first sliding rail 72 being set on first longitudinal side frame 713, is indulged set on described second The longitudinal slide 74 that the second sliding rail 73, both ends on side frame 714 are slidably matched with the first sliding rail 72 and the second sliding rail 73 respectively with And the first driving mechanism that the longitudinal slide 74 can be driven to be moved back and forth along two sliding rails 72,73 length directions is (not shown Go out), the longitudinal slide 74 can move under the driving of first driving mechanism along the longitudinally reciprocal of the frame body 1.Its In：

In the present embodiment, in first longitudinal side, frame 713 is provided with section erecting bed triangular in shape or trapezoidal, the peace The length for filling the first longitudinal side frame 713 described in the length of platform matches, in the top surface of the erecting bed integrally formed with cylinder First sliding rail 72.Symmetrically, section installation triangular in shape or trapezoidal is provided on second longitudinal side frame 714 Platform, the length of the erecting bed and the length of second longitudinal side frame 714 match, and are integrally formed in the top surface of the erecting bed There is the second cylinder sliding rail 73.

With 72 and second sliding rail 73 of above-mentioned first sliding rail correspondingly, the lower surface at the both ends of the longitudinal slide 74 is distinguished It is provided with the sliding block 741 being slidably matched with the sliding rail of the cylinder, is provided with and is slidably mounted in the lower end of the sliding block 741 Hole on corresponding sliding rail.On the longitudinal slide 74 side far from second positioning detection mechanism 6 be provided with it is described The link block that the drive rod 701 of first driving mechanism connects.In the present embodiment, first driving mechanism is to be installed on the frame The first cylinder on body 1, the drive rod 701 of first cylinder towards the direction of second crossbearer 152 and with the connection Block connects, in this way, can be driven the longitudinal sliding block 741 (can be to the second crossbearer along multiple past move in the longitudinal direction of the frame body 1 152 direction is mobile and is moved to the direction far from second crossbearer 152).

The transplanting mechanism 7 further include be set on the longitudinal slide 74 and can it is vertical go up vertical motion plate 75 and The second driving mechanism (not shown) for driving the vertical motion plate 75 to move up and down, the vertical motion plate 75 and institute It is parallel to state longitudinal slide 74.

In the present embodiment, a driving for second driving mechanism is offered in the center of the longitudinal slide 74 The centre bore that bar 702 is pierced by upwards, the top of the drive rod 702 of second driving mechanism be pierced by after the centre bore with it is described The center position of vertical motion plate 75 connects.Four edges of the lower surface of the vertical motion plate 75 are respectively arranged with one Guide rod 751 corresponds at the position of four guide rods 751 pilot hole there are four opening up on the longitudinal slide 74, described Four of vertical motion plate 75 are oriented to root and are arranged in separately down in four pilot holes.Second driving mechanism is is set to The second cylinder of 74 lower surface of longitudinal slide is stated, after the drive rod 702 of second cylinder passes through the centre bore straight up It is connect with the vertical motion plate 75.

The transplanting mechanism 7 further includes that can be pierced by set on the upper surface of the vertical motion plate 75 and upwards the output Several brackets in portion.In the present embodiment, the bracket is four groups, and each group of bracket is in shaped door, the two of each shape bracket 76 Side lever is vertical at the upper surface of the vertical motion plate 75, the length direction of the mandril of four door shape brackets 76 and described first The length direction of roller 21 is parallel.Per straight of the diameter of width and first roller 21 between adjacent two door shapes bracket 76 Match, be slightly larger than the diameter of first roller 21, width of each door shape bracket 76 in floor projection is less than adjacent two the Spacing between one roller 21, so that each shape bracket 76 can be pierced by the output upwards with the vertical motion plate 75 Below portion and the output section of retracting downwards.

In the present embodiment, first driving mechanism and the second driving mechanism are electrically connected with the master control set, work as institute When stating master control set and receiving the first signal that the first sensor 54 of first positioning detection mechanism 5 is sent, described in control Second driving mechanism drives the vertical motion plate 75 upwardly so that the door shape bracket 76 is pierced by the output upwards Portion, to hold up the tire；(can refer to rising to the limit, or pass through a highly sensing after rising to precalculated position After device detects tire lifting height), the master control set controls first driving mechanism and drives the longitudinal slide 74 to institute The movement of the second positioning detection mechanism 6 is stated, so that the door shape bracket 76 is moved to 6 direction of the second positioning detection mechanism Dynamic, after second positioning detection mechanism 6 detects tire, second positioning detection mechanism 6 sends second signal to institute Master control set is stated, after the master control set receives the second signal, controls second driving mechanism and the first driving machine Structure carries out reset drives (even if door shape bracket 76 is reset to initial position).

In the present embodiment, precalculated position is risen to about above-mentioned, can be the extreme position that second cylinder rises, Setting one is used at position on (can pushing up crossbearer 142 in the first top crossbearer 141 or second) on the frame body 1 corresponding to tire Detection tire rises to the height sensor (photoelectric sensor) in precalculated position, and the main function of the height sensor is for obtaining After taking second cylinder to rise to the limit (or claiming after holding up tire), notification signal is sent to the master control set, so that The master control set controls the drive rod 701 of first cylinder to second positioning detection mechanism according to this notification signal 6 positions act.

The range of the drive rod 702 of second cylinder can make tire that can just touch the second detection and localization Mechanism 6, so that the second positioning detection mechanism 6 is able to detect that tire.

The transplanting mechanism 7 of the present embodiment can make tire after being detected by the first positioning detection mechanism 5, can be effective So that tire is moved at the position of the second positioning detection mechanism 6, it is fixed by two to be detected by the second positioning detection mechanism 6 Position detecting mechanism detects the position in the direction in length and breadth of tire, so that it matches with the position being arranged in robot stacking machine, from And the manipulator of robot stacking machine can be accurately set accurately to capture tire.This transplanting mechanism 7 is ingenious in design, initial Under state, it is located at the underface of the tire current location after being detected by the first positioning detection mechanism 5, and be located at delivery section 2 Lower section, be not take up any space of the top of delivery section 2, only want just to stretch out upwards when mobile tyre and to the second detection and localization The direction mobile tyre of mechanism 6, it is ensured that tire is detected by the second positioning detection mechanism 6.

It these are only the embodiment of the utility model, it does not limit the scope of the patent of the present invention, every profit The equivalent structure or equivalent flow shift made by the utility model specification and accompanying drawing content, is applied directly or indirectly in it His relevant technical field, is equally included in the patent within the scope of the utility model.

Claims (10)

1. a kind of tire stacking positioning auxiliary device is set to the output end of tire conveying device, it is characterised in that：Including frame body, Delivery section on the frame body, on the frame body one end far from the tire conveying device positioning detection mechanism And on the frame body and for being oriented to tire so that tire, which is directed to, is delivered to the positioning detection mechanism position Set the guiding mechanism at place, the delivery section and positioning detection mechanism are electrically connected with the master control set of robot pile ink recorder.

2. tire stacking positioning auxiliary device as described in claim 1, it is characterised in that：The frame body is located at same with two Horizontal plane and parallel top crossbearer；

The delivery section includes along several first rollers for pushing up crossbearer length direction and being arranged at intervals between two top crossbearers, often The vertical connection that crossbearer is pushed up in the both ends of one first roller with described two respectively；The delivery section further includes for driving described first The tire to be delivered to the driving portion at the positioning detection mechanism position, the driving portion and the master control by roller rotation Device is electrically connected；

Several first rollers of the delivery section are generally aligned in the same plane with the second roller of the tire conveying device and mutually put down Row, in several first rollers of the delivery section, close to one first roller and described the of the tire conveying device output end Two rollers are connected；The one end of the delivery section far from the tire conveying device is located at the medial surface of the positioning detection mechanism.

3. tire stacking positioning auxiliary device as claimed in claim 2, it is characterised in that：The frame body also has a top vertical Frame, the both ends that frame is indulged on the top are connect with two top rear end of the crossbearer far from the tire conveying device respectively；The positioning Testing agency includes being set to the top to indulge the first positioning detection mechanism on frame and the second top crossbearer in two top crossbearers Second positioning detection mechanism of upper one end that frame is indulged close to the top；

First positioning detection mechanism includes the first mounting structure being erected on the vertical frame in the top, is set to first installation In structure and can along the first push plate of the swing of tire conveying direction, in first push plate far from the delivery section First occlusion part of lateral surface and the first sensing at the position pushed up on vertical frame corresponding to first occlusion part Device；When first push plate is pushed out by the tire, the first sensor detects corresponding first signal, and sends To the master control set, the first signal control driving portion that the master control set is sent according to the first sensor stops Only, and the tire is made to move at second positioning detection mechanism.

4. tire stacking positioning auxiliary device as claimed in claim 3, it is characterised in that：First mounting structure includes vertical The first column on frame is indulged set on the top, from the top of first column to the delivery section direction horizontal-extending first Mounting rod is articulated in first mounting rod towards the front end in the delivery section direction and can be put along the tire conveying direction The first dynamic swing rod；First push plate is set on first swing rod can be swung along the length direction of the frame body.

5. tire stacking positioning auxiliary device as claimed in claim 4, it is characterised in that：The front end of first mounting rod is set Two first installation journal stirrups are equipped with, offering one first respectively on described two first installation journal stirrups perforates, and the two of one first pivot End is arranged in respectively in the first perforation on described two first installation journal stirrups, and the length direction of first pivot and the top are vertical The length direction of frame is parallel；The upper end of first swing rod offers one first pivoted hole, and first pivoted hole is arranged in institute It states in the first pivot and between described two first installation journal stirrups.

6. tire stacking positioning auxiliary device as claimed in claim 3, it is characterised in that：First mounting structure is at least Two groups, the length direction interval that the first mounting structure of at least two groups indulges frame along the top is arranged, first push plate and institute The first swing rod connection of the first mounting structure of at least two groups is stated, so that the length direction of frame is indulged in first push plate along the top It is set on first mounting structure.

7. the tire stacking positioning auxiliary device as described in any one of claim 3 to 6, it is characterised in that：Described second is fixed Position detecting mechanism includes the second installation knot for indulging one end of frame on the second top crossbearer being erected in two top crossbearers close to the top Structure, on second mounting structure and can along the second push plate swung with the second top vertical direction of crossbearer, set In the second occlusion part of the lateral surface far from the first top crossbearer in two top crossbearers in second push plate and set on described the Corresponding to the second sensor at the position of second occlusion part on two top crossbearers；It is pushed away when the tire is moved to described second Board position and when pushing out second push plate, the second sensor detects corresponding second signal, and is sent to described Master control set, the master control set are controlled according to the second signal that the second sensor is sent described in robot stacking machine crawl Tire.

8. tire stacking positioning auxiliary device as claimed in claim 7, it is characterised in that：Second mounting structure includes vertical The second column on the crossbearer of second top is prolonged from the top of second column to first top crossbearer direction level The second mounting rod for stretching, be articulated in second mounting rod towards the front end in first top crossbearer direction and can along with it is described The second swing rod that the vertical direction of second top crossbearer is swung；Second push plate is set on second swing rod with can be along described The width direction of frame body is swung.

9. tire stacking positioning auxiliary device as claimed in claim 8, it is characterised in that：The front end of second mounting rod is set Two second installation journal stirrups are equipped with, offering one second respectively on described two second installation journal stirrups perforates, and the two of one second pivot End is arranged in respectively in the second perforation on described two second installation journal stirrups, the length direction of second pivot and described second The length direction for pushing up crossbearer is parallel；The upper end of second swing rod offers one second pivoted hole, and second pivoted hole is worn In second pivot and between described two second installation journal stirrups.

10. tire stacking positioning auxiliary device as claimed in claim 7, it is characterised in that：Second mounting structure is extremely Two groups few, the second mounting structure of at least two groups is arranged along the length direction interval of second top crossbearer, and described second pushes away Plate is connect with the second swing rod of the second mounting structure of at least two groups, so that the length of frame is indulged in second push plate along the top Degree direction is set on second mounting structure.