CN217597880U - Tire building machine and robotic arm thereof - Google Patents

Abstract

The utility model discloses a tire building machine and robotic arm thereof, including setting up first robotic arm and the second robotic arm in the frame of make-up machine, first robotic arm includes by the first robotic arm body and set up the first manipulator at the wrist of the first robotic arm body, is provided with first compression roller portion and the first claw portion that is used for snatching the green child on the first manipulator; the second mechanical arm comprises a second mechanical arm body and a second mechanical hand arranged on the wrist of the second mechanical arm body, and a second pressing roller part and a second claw part used for grabbing a tire bead and a spacer of the material preparation area are arranged on the second mechanical hand. This robotic arm can realize through this robotic arm of control that the tire bead is placed, the side wall roll extrusion of green child and the child operation of unloading of green child, compares in traditional different mechanical device and operates respectively, has reduced mechanical equipment's occupation space greatly, has reduced the complexity of control simultaneously, has avoided the possibility that the interact produces the interference between the execution mechanical parts.

Description

Tire building machine and robotic arm thereof

Technical Field

The utility model relates to a tire shaping technical field especially relates to a tire building machine and robotic arm thereof.

Background

Generally, tire building needs to be performed on a tire building device, and in the current building machine devices, there are mainly the following structural designs for the ring-up process (i.e. placing a tire bead on a tire bead preset from a tire bead vehicle), the rolling process (i.e. rolling a tire crown and a tire sidewall), and the tire-unloading process (i.e. taking a tire blank out of a tire-unloading device and placing the tire blank in a specified position) which meet the process requirements: the ring loading process is completed manually, the rolling process is completed by a combined press roller device, and the tire unloading process is completed by a tire unloading device; the ring loading process is completed by a single mechanical arm, the rolling process is completed by a combined press roller device, and the tire unloading process is completed by a tire unloading device; the ring feeding process is completed by other automatic ring feeding devices, the rolling process is completed by a combined press roller device, and the tire unloading process is completed by a tire unloading device. In the structural design, the upper ring operation, the rolling operation and the tire unloading operation are respectively completed by different mechanical devices, so that the mechanical structure of the whole machine is complicated, the occupied space is large, the control is complex, and the mutual interference is easy to generate.

In summary, how to solve the problems of complicated mechanical structure, large occupied space, complex control and easy mutual interference of the whole machine has become a technical problem that needs to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a tire building machine and robotic arm thereof to the mechanical structure who solves the complete machine is numerous and diverse, and occupation space is big and control complicated easy mutual interference's problem.

In order to achieve the above object, the present invention provides a mechanical arm of a tire building machine, including a first mechanical arm and a second mechanical arm arranged on a frame of the building machine, wherein the first mechanical arm includes a first mechanical arm body and a first mechanical hand arranged on a wrist portion of the first mechanical arm body, the first mechanical hand is provided with a first pressure roller portion and a first claw portion for gripping a green tire, the first mechanical arm body can drive the first pressure roller portion to roll a first tire side of the green tire on a building drum, and the first mechanical arm body can also drive the first claw portion to transfer the green tire to a tire unloading position; second robotic arm includes by the second robotic arm body and sets up the second manipulator of the wrist of the second robotic arm body, be provided with second compression roller portion on the second manipulator and be used for snatching the tire bead of the district of prepareeing material and the second claw of spacer, the second robotic arm body can drive second compression roller portion is right the second side wall of the green child on the building drum carries out the roll extrusion, just the second robotic arm body can also drive the second claw will the tire bead is placed the tire bead and is preset and will the spacer is placed to the spacer and is put on the position.

Preferably, when the green tyre on the building drum is being rolled, the first and second pressure roller sections remain symmetrical with respect to a centre plane of the green tyre.

Preferably, when rolling the green tyre on the building drum, the symmetry of the first and second nip roller portions is required to be ± 0.5mm.

Preferably, the first pressure roller part and the second pressure roller part rotate along with the rotation of the green tire on the forming drum, the first mechanical arm body drives the first pressure roller part to move according to a preset following curve of the first sidewall, and the second mechanical arm body drives the second pressure roller part to move according to a preset following curve of the second sidewall.

Compared with the introduction content of the background art, the mechanical arm of the tire building machine comprises a first mechanical arm and a second mechanical arm which are arranged on a rack of the building machine, wherein the first mechanical arm comprises a first mechanical arm body and a first mechanical hand arranged at the wrist part of the first mechanical arm body, a first press roller part and a first claw part used for grabbing a green tire are arranged on the first mechanical hand, the first mechanical arm body can drive the first press roller part to roll the first tire side of the green tire on the building drum, and the first mechanical arm body can drive the first claw part to transfer the green tire to a tire unloading position; the second mechanical arm comprises a second mechanical arm body and a second mechanical arm arranged at the wrist of the second mechanical arm body, a second pressing roller portion and a second claw portion used for grabbing a tire bead and a spacer in a material preparation area are arranged on the second mechanical arm, the second mechanical arm body can drive the second pressing roller portion to roll a second tire side of a green tire on the forming drum, and the second mechanical arm body can also drive the second claw portion to place the tire bead to be preset in the tire bead and place the spacer to be placed on a position. In the practical application process, when the tire bead is required to be placed on the tire bead presetting device of the tire building machine, the second claw part is driven by the second mechanical arm body to move to a material preparation area of the tire building machine, and the second claw part performs grabbing actions on the tire bead and the spacer; the second mechanical arm body drives the second claw part to place the tire bead on the tire bead presetting position and place the spacer on the spacer placing position, and therefore automatic placement of the tire bead is achieved; when the rolling operation of the green tire needs to be executed, the first mechanical arm body drives the first pressing roller part to roll the first tire side of the green tire on the forming drum, and meanwhile, the second mechanical arm body drives the second pressing roller part to roll the second tire side of the green tire, so that the automatic rolling operation of the green tire is realized; when the green tire needs to be unloaded, the first mechanical arm body drives the first claw part to grab the green tire and transfer the green tire to a tire unloading position. In the tire forming process, the manipulator arm can be controlled to realize the operations of placing a tire bead, rolling the sidewall of a green tire and unloading the green tire, compared with the operations of different traditional mechanical devices, the occupied space of mechanical equipment is greatly reduced, the complexity of control is reduced, and the possibility of interference caused by the mutual action between mechanical parts is avoided.

Additionally, the utility model provides a tire building machine, including robotic arm, this robotic arm is the robotic arm of the tire building machine that any above-mentioned scheme described, because this tire building machine's robotic arm has above-mentioned technological effect, consequently has this robotic arm's tire building machine also should have corresponding technological effect, and no longer the repeated description here.

Preferably, the tire unloading position is a raw tire blanking conveying line.

Preferably, said bead preset is reversible by 180 °.

Preferably, the preparation area comprises a bead trolley on which the beads and spacers are alternately horizontally stacked.

Preferably, said spacer placement is arranged next to said bead carriage.

Preferably, the spacer placing position is provided with a spacer placing trolley.

Drawings

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

Fig. 1 is a schematic view of an overall structure of a tire building machine according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a robot arm according to an embodiment of the present invention.

In the above-mentioned figures 1 and 2,

the device comprises a first mechanical arm 1, a first mechanical arm body 11, a first mechanical arm 12, a first press roller part 12a, a first claw part 12b, a second mechanical arm 2, a second mechanical arm body 21, a second mechanical arm 22, a second press roller part 22a, a second claw part 22b, a forming drum 3, a tire unloading position 4, a material preparing area 5, a tire bead presetting position 6 and a spacer placing position 7.

Detailed Description

The core of the utility model is to provide a tire building machine and robotic arm thereof to the mechanical structure who solves the complete machine is numerous and diverse, occupation space is big and control complicated easy mutual interference's problem.

In order to make those skilled in the art better understand the technical solutions provided by the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a mechanical arm of a tire building machine, including a first mechanical arm 1 and a second mechanical arm 2 arranged on a frame of the building machine, where the first mechanical arm 1 includes a first mechanical arm 11 and a first mechanical arm 12 arranged on a wrist portion of the first mechanical arm 11, the first mechanical arm 12 is provided with a first pressure roller portion 12a and a first claw portion 12b for gripping a green tire, the first mechanical arm 11 can drive the first pressure roller portion 12a to roll a first tire side of the green tire on a building drum 3, and the first mechanical arm 11 can also drive the first claw portion 12b to transfer the green tire to a tire unloading position 4; the second mechanical arm 2 comprises a second mechanical arm body 21 and a second mechanical arm 22 arranged at the wrist of the second mechanical arm body 21, a second press roller part 22a and a second claw part 22b used for grabbing a tire bead and a spacer of the material preparation area 5 are arranged on the second mechanical arm 22, the second mechanical arm body 21 can drive the second press roller part 22a to roll a second tire side of a green tire on the forming drum 3, and the second mechanical arm body 21 can also drive the second claw part 22b to place the tire bead on the tire bead presetting position 6 and place the spacer on the spacer placing position 7.

In the practical application process, when the tire bead is required to be placed on the tire bead presetting device of the tire building machine, the second claw part is driven by the second mechanical arm body to move to a material preparation area of the tire building machine, and the second claw part performs grabbing actions on the tire bead and the spacer; the second mechanical arm body drives the second claw part to place the tire bead on the tire bead presetting position and place the spacer on the spacer placing position, and therefore automatic placement of the tire bead is achieved; when the rolling operation of the green tire needs to be executed, the first mechanical arm body drives the first pressing roller part to roll the first tire side of the green tire on the forming drum, and meanwhile, the second mechanical arm body drives the second pressing roller part to roll the second tire side of the green tire, so that the automatic rolling operation of the green tire is realized; when the green tire is required to be unloaded, the first mechanical arm body drives the first claw part to grab the green tire and transfer the green tire to a tire unloading position. In the tire forming process, the manipulator arm can be controlled to realize the operations of placing a tire bead, rolling the sidewall of a green tire and unloading the green tire, compared with the operations of different traditional mechanical devices, the occupied space of mechanical equipment is greatly reduced, the complexity of control is reduced, and the possibility of interference caused by the mutual action between mechanical parts is avoided.

It should be noted that the first/second arm bodies are generally formed by multi-joint connection and are configured with corresponding drivers so that the first/second arm bodies can drive the respective manipulators to move in various spatial directions, and since the arm body parts belong to the prior art, they are not described in detail herein.

In particular embodiments, when rolling the green tire on the building drum 3, the first and second nip roller portions 12a and 22a generally remain symmetrical about the center plane of the green tire. The first press roller part and the second press roller part are symmetrically arranged relative to the central plane of the green tire, so that the green tire is rolled more uniformly and symmetrically. Note that, the symmetry of the first nip roller section 12a and the second nip roller section 22a is generally required to be ± 0.5mm. The symmetry degree of the first pressing roller part and the second pressing roller part during rolling is designed to be within the tolerance, so that the relevant requirements of green tire manufacturing can be basically met, and it can be understood that in the practical application process, other corresponding symmetry degrees can be selected according to the practical requirements, and no more specific limitation is made herein.

In some more specific embodiments, when the robot arm performs the green tire stitching operation, the first and second nip roller portions 12a and 22a rotate following the rotation of the green tire on the building drum 3, and the first robot arm 11 drives the first nip roller portion 12a to follow the preset following curve of the first sidewall, and the second robot arm 21 drives the second nip roller portion 22a to follow the preset following curve of the second sidewall. Through designing into first/second compression roller portion and following the green child and rotate two pivoted modes and carry out the roll extrusion, compare in friction formula roll extrusion, can promote the roll extrusion effect, promote the surface smoothness degree of side wall. It should be noted that, generally, the preset following curve of the first sidewall is symmetrical to the preset following curve of the second sidewall, and depending on the designed sidewall curve of the green tire, the first/second manipulator respectively drives the first/second pressing roller to roll along with the forming drum during the moving process, and generally, the following distance is about 800mm (the actual dynamic following distance is determined according to the simulation effect and the on-site debugging).

Additionally, the utility model provides a tire building machine, including robotic arm, this robotic arm is the robotic arm of the tire building machine that any above-mentioned scheme described, because this tire building machine's robotic arm has above-mentioned technological effect, consequently has this robotic arm's tire building machine also should have corresponding technological effect, no longer gives unnecessary details here.

In some specific embodiments, the tire unloading position 4 can be specifically a green tire blanking conveying line. After the green tire is unloaded, the green tire is directly conveyed to the subsequent process through a green tire blanking conveying line, so that the whole production process is more coherent. Of course, it can be understood that the tire unloading position can also be a tire detection station, and then the tire can be unloaded and detected at the same time.

In some more specific embodiments, the bead presets 6 described above can be designed in particular in the form of a reversible structure, with a reversible angle of 180 °. Through the design of the reversible structural form, after one tire bead is placed on the tire bead presetting device, the second tire bead can be placed only by turning the tire bead presetting device by 180 degrees, and the complexity of the motion control of the second claw part driven by the second mechanical arm body is greatly reduced.

In some particular embodiments, the preparation section 5 may comprise in particular bead trolleys on which the beads and spacers are stacked alternately horizontally. By arranging the tire bead trolley, whether the tire bead on the tire bead trolley is taken out can be monitored, and if the tire bead on the tire bead trolley is taken out, the tire bead trolley is carried away by the carrying trolley and the tire bead trolley carrying the tire bead is carried to a material preparation area; if not, continuing monitoring. Thereby greatly improving the automation degree of the bead preparation. It should be noted that, as will be understood by those skilled in the art, in order to prevent the adhesion between two adjacent beads, it is generally necessary to separate the two adjacent beads by a spacer, so that the beads and the spacer are placed on the bead carriage in an alternating horizontal stacking manner.

In a further embodiment, the spacer placement station 7 can be designed to be arranged next to the bead carriage in order to facilitate the spacer placement after the gripping of the spacer. Can reduce the motion route of second mechanical arm body like this, promote spacer and place efficiency and convenience.

In a further embodiment, the spacer placing position 7 may be provided with a spacer placing trolley. By arranging the spacer placing trolley, whether the spacer on the spacer placing trolley is full-load can be monitored, if so, the spacer placing trolley is conveyed away by the carrying trolley, and the no-load spacer placing trolley is conveyed to a spacer placing position; if not, continuing to monitor. Thereby can promote tire building machine degree of automation greatly, guaranteed that tire building machine keeps the spacer to place the position and has the spacer to place the space under the circumstances of not shutting down.

In order to better understand the technical solution of the present invention for those skilled in the art, the following is briefly described with reference to the specific working process of the tire building machine:

the first mechanical arm and the second mechanical arm respectively drive the pressing roller parts on the respective mechanical arms to simultaneously start to roll the green tire to the rolling starting position, the mechanical arms roll the green tire along with the forming drum in the moving process, and the following distance is about 800mm (the actual dynamic following distance is determined according to the simulation effect and field debugging). The roller part needs to be rolled according to a set rolling path curve in the rolling process, and the symmetry degree of the roller part to the central plane of the tire in the rolling process requires that: plus or minus 0.5mm.

The first mechanical arm is withdrawn from the adjustment posture, the green tire is grabbed through the first claw part, the taken green tire is placed on a green tire blanking conveying line, the placing surface of the green tire is generally 3.2m away from the ground, and the first mechanical arm waits for a green tire rolling signal;

while the first mechanical arm works, the second mechanical arm moves to the material preparation area to perform the bead taking operation, and the bead and the spacer are horizontally taken (the bead and the spacer are generally alternately and horizontally stacked in the bead car). Generally, the left side is a material preparation area, a bead and spacers are placed on a bead trolley in the material preparation area (the number of the spacers is determined according to actual conditions), and the right side is an empty trolley or a certain number of spacers are placed on the bead trolley in the material preparation area, and the change can be carried out according to actual requirements. At the moment, a second claw part of a second mechanical arm needs to grab 2 tire beads and 2 spacers, the second mechanical arm moves to a spacer placing position, 1 spacer is horizontally placed, the tire beads are clamped to move to a tire bead presetting position, one tire bead is placed on the tire bead presetting position, the second mechanical arm moves to the spacer placing position again, 1 spacer is horizontally placed again, the tire bead presetting position rotates by 180 degrees, the second mechanical arm clamps the second tire bead to move to the tire bead presetting position, the tire bead is placed on the tire bead presetting position, the ring loading action is finished, and a finishing signal is given;

the first/second mechanical arm waits for the forming machine to finish the work and receives a green tire rolling signal;

after receiving the green tire rolling signal, the first/second mechanical arm starts to perform the sidewall rolling operation of the green tire from the rolling position at the same time, and the specific requirements refer to the description of the rolling operation;

the above operations are circulated.

In order to facilitate the green tire inspection, after the first manipulator finishes tire unloading, the tire can be selectively sent to the front side of the main machine line, the conveying distance is more than 500mm, and the tire is placed on the tire inspection roller for inspection.

The above is to the tire building machine and the mechanical arm thereof provided by the utility model are introduced in detail. It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

It should be understood that the use of "system," "device," "unit," and/or "module" herein is merely one way to distinguish between different components, elements, components, parts, or assemblies of different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising a … …" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

Wherein in the description of the embodiments of the present application, "/" indicates an inclusive meaning, for example, a/B may indicate a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

If used in this application, the flowcharts are intended to illustrate operations performed by the system according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.

It should also be noted that in this document, terms such as "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, so that an article or apparatus including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in an article or apparatus that comprises the element.

The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the core concepts of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims (10)

1. The mechanical arm of the tire building machine is characterized by comprising a first mechanical arm (1) and a second mechanical arm (2) which are arranged on a rack of the building machine, wherein the first mechanical arm (1) comprises a first mechanical arm body (11) and a first mechanical arm (12) arranged at the wrist part of the first mechanical arm body (11), a first pressure roller part (12 a) and a first claw part (12 b) used for grabbing a green tire are arranged on the first mechanical arm (12), the first mechanical arm body (11) can drive the first pressure roller part (12 a) to roll the first tire side of the green tire on a building drum (3), and the first mechanical arm body (11) can also drive the first claw part (12 b) to transfer the green tire to a tire unloading position (4); second robotic arm (2) include the second robotic arm body (21) and set up second manipulator (22) of the wrist of the second robotic arm body (21), be provided with second pinch roll portion (22 a) on second manipulator (22) and be used for snatching the tire bead of the district of prepareeing material (5) and second claw (22 b) of spacer, the second robotic arm body (21) can drive second pinch roll portion (22 a) is right the second side wall of the green tyre on forming drum (3) carries out the roll extrusion, just the second robotic arm body (21) can also drive second claw (22 b) will the tire bead is placed to the tire bead and is preset (6) and will the spacer is placed to the spacer and is put on position (7).

2. A robot arm for a tyre building machine according to claim 1, characterised in that said first (12 a) and said second (22 a) nip roller portions remain symmetrical with respect to the centre plane of the green tyre when the green tyre on the building drum (3) is being rolled.

3. A robot arm for a tyre building machine according to claim 2, characterised in that the symmetry of the first (12 a) and the second (22 a) nip roller portion is required to be ± 0.5mm when rolling the green tyre on the building drum (3).

4. A robot arm for a tyre building machine according to claim 2, characterized in that when the robot arm performs a green tyre stitching operation, said first (12 a) and second (22 a) press roll portions follow the rotation of the green tyre on the building drum (3) and said first robot arm body (11) drives said first press roll portion (12 a) according to a preset following curve of said first tyre side and said second robot arm body (21) drives said second press roll portion (22 a) according to a preset following curve of said second tyre side.

5. A tyre building machine comprising a robot arm, characterized in that the robot arm is a robot arm of a tyre building machine according to any one of claims 1-4.

6. Tyre building machine according to claim 5, characterised in that the tyre unloading station (4) is a green tyre blanking line.

7. Tyre building machine according to claim 5, characterised in that the bead presettings (6) can be turned through 180 °.

8. Tyre building machine according to claim 5, characterised in that the preparation area (5) comprises a bead trolley on which the beads and spacers are stacked alternately horizontally.

9. Tyre building machine according to claim 8, characterised in that the spacer placement locations (7) are arranged next to the bead trolleys.

10. Tyre building machine according to claim 9, characterised in that the spacer placement station (7) is provided with a spacer placement trolley.

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