CN112404928A - Tire and screw feeding system - Google Patents
Tire and screw feeding system Download PDFInfo
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- CN112404928A CN112404928A CN202011206028.2A CN202011206028A CN112404928A CN 112404928 A CN112404928 A CN 112404928A CN 202011206028 A CN202011206028 A CN 202011206028A CN 112404928 A CN112404928 A CN 112404928A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/12—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being suspensions, brakes or wheel units
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Tyre Moulding (AREA)
Abstract
The present disclosure provides a tire and screw feeding system, comprising: a transport unit for transporting the tire; the releasing unit is used for synchronously releasing a screw group containing a preset number of screws into a screw hole group containing the number of screw holes of a target tire, and the first position distribution of the screws in the screw group is the same as the second position distribution of the screw holes in the screw hole group; a vision unit for identifying a position deviation between a projection of the first position distribution on the target tire and the second position distribution; and the positioning unit is used for adjusting the position deviation to be smaller than a preset deviation threshold value by adjusting the target tire or the putting unit so that the putting unit synchronously puts the screw group into the screw hole group. The embodiment of the disclosure can realize one-time putting of the screws, and save operation time and economic cost.
Description
Technical Field
The disclosure relates to the field of automation, and in particular relates to a tire and screw feeding system.
Background
In various fields of industry, automated production has been a tendency. In the process of assembling tires in the automobile manufacturing industry, screws need to be put into a plurality of screw holes on a tire hub, and then the tires are assembled. In the prior art, a robot is usually used to put screws into screw holes one by one, so that more operation steps and operation time are required, and higher economic cost is brought.
Disclosure of Invention
One object of the present disclosure is to provide a tire and screw feeding system, which can realize one-time screw feeding, and save operation time and economic cost.
According to an aspect of the disclosed embodiments, a tire and screw feeding system is disclosed, comprising:
a transport unit for transporting the tire;
the releasing unit is used for synchronously releasing a screw group containing a preset number of screws into a screw hole group containing the number of screw holes of a target tire, and the first position distribution of the screws in the screw group is the same as the second position distribution of the screw holes in the screw hole group;
a vision unit for identifying a position deviation between a projection of the first position distribution on the target tire and the second position distribution;
and the positioning unit is used for adjusting the position deviation to be smaller than a preset deviation threshold value by adjusting the target tire or the putting unit so that the putting unit synchronously puts the screw group into the screw hole group.
According to an exemplary embodiment of the present disclosure, the transport unit includes:
a line comprising a first tire station for carrying one tire and a second tire station for carrying at least one tire, the line for transporting tires from the second tire station to the first tire station, wherein the tire at the first tire station is the target tire;
a barrier disposed between the first tire location and the second tire location, the barrier being configured to block a tire in the second tire location from impacting the target tire when activated.
According to an exemplary embodiment of the present disclosure, the transport unit further comprises:
the photoelectric switch is arranged at the first tire position and used for monitoring the light change of the first tire position and controlling the partition plate according to the light change.
According to an exemplary embodiment of the present disclosure, the line transports tires through a plurality of rollers;
the partition is arranged in a roller gap between the first tire position and the second tire position and used for rising when the target tire is transported to the first tire position and falling when the target tire is taken away.
According to an exemplary embodiment of the present disclosure, the launching unit includes:
a screw supply for supplying the number of screws;
the limiting part is used for limiting the number of screws to the first position distribution to obtain the screw group;
and the screw placing piece is used for synchronously placing the screw group into the screw hole group.
According to an exemplary embodiment of the present disclosure, the staple feeding unit includes:
a screw magazine for holding batch dumped screws;
the nail feeding groove is butted with the limiting piece and used for accommodating an upright screw and conveying the upright screw to the limiting piece;
the air cylinder is arranged at the bottom of the screw bin, and screws in the screw bin are vertically arranged in the screw feeding grooves through the pushing of the air cylinder.
According to an exemplary embodiment of the disclosure, the retaining member is an indexing plate comprising the number of openings distributed according to the second position, wherein each opening is used for fixing an upright screw.
According to an exemplary embodiment of the present disclosure, the tacker includes:
the electromagnetic gripper sucks the screw group from the limiting piece through electrification and demagnetization, and puts the screw group into the screw hole group through power failure;
and the gripper arm is used for controlling the electromagnetic gripper to move to the position matched with the limiting piece and controlling the electromagnetic gripper to move to the position matched with the target tire.
According to an exemplary embodiment of the present disclosure, the positioning unit includes a plurality of vertical rollers that are perpendicular to the target tire and that collectively grip the target tire, wherein the target tire is adjusted by rotation of at least one of the vertical rollers to adjust the positional deviation to be less than the deviation threshold.
According to an exemplary embodiment of the present disclosure, the vision unit is further configured to identify whether the screw set has been placed into the screw hole set after the placing unit places the screw set;
if the vision unit identifies that the screw group is not put into the screw hole group, the system reports an error and processes the target tire according to a preset error clearing flow;
if the vision unit identifies that the screw set has been placed into the screw set, then the target tire into which the screw set has been placed is fed.
In the tire and screw feeding system in the embodiment of the present disclosure, the position deviation between the projection of the first position distribution of the screw in the screw group on the target tire and the second position distribution of the screw hole in the screw hole group, which is identified by the vision unit, is enabled to be adjusted by the positioning unit to be smaller than the preset deviation threshold, that is, to be aligned by the positioning unit. And then put in the unit and can put into the screw group that aligns with screw group in step to realize the disposable input of screw, saved operating time and economic cost.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
FIG. 1 illustrates a layout view of a tire assembly system with which a tire and screw feeding system is mated, according to one embodiment of the present disclosure.
FIG. 2 illustrates a front view of the tire and screw feeder system of FIG. 1 according to one embodiment of the present disclosure.
FIG. 3 illustrates a top view of the tire and screw feeding system of FIG. 1 according to one embodiment of the present disclosure.
FIG. 4 illustrates a schematic structural view of the staple supply of FIG. 1 according to one embodiment of the present disclosure.
The reference numerals are explained below:
the method comprises the following steps of 1-vehicle body, 2-controller, 3-tire assembly robot, 4-tire and screw feeding system, 5-roller assembly line, 6-buffer position, 7-material taking position, 8-tire jacking member, 9-tire positioning member, 10-nail taking and placing member, 11-electromagnetic gripper, 12-camera fixing support, 13-visual unit, 14-nail supplying member, 15-screw bin, 16-in-line nail feeding member and 17-dividing disc.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, steps, and so forth. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
The present disclosure provides a tire and screw feeding system, the system comprising:
a transport unit for transporting the tire;
the releasing unit is used for synchronously releasing a screw group containing a preset number of screws into a screw hole group containing the number of screw holes of a target tire, and the first position distribution of the screws in the screw group is the same as the second position distribution of the screw hole group in the screw holes;
a vision unit for identifying a position deviation between the projection of the first position profile on the target tyre and the second position profile;
and the positioning unit is used for adjusting the position deviation to be smaller than a preset deviation threshold value by adjusting the target tire or the putting unit so that the screw group is synchronously put into the screw hole group by the putting unit.
In particular, the transport unit is used for transporting tires. Generally, the transport unit may be a roller line for transporting the tire in a flowing line by rotating a plurality of equally spaced rollers, or a conveyor belt for transporting the tire in a flowing line by pulling a belt.
The releasing unit is used for releasing the screw group into the screw hole group of the target tire. Wherein, the number of the screws of the screw group is equal to the number of the screw holes of the screw hole group; and the first position distribution of the screws in the screw group is the same as the second position distribution of the screw holes in the screw hole group. That is, by adjusting the relative position between the screw group and the screw hole group, it is possible to align the screws in the screw group with the screw holes in the screw hole group one by one.
The positioning unit is used for aligning the screw group with the screw hole group, namely, the screw group is aligned with the screw hole group by adjusting the position deviation between the position distributions to be less than a deviation threshold value. The positioning unit can adjust the position deviation between the position distributions to be smaller than the deviation threshold value by adjusting the target tire, and can also adjust the position deviation between the position distributions to be smaller than the deviation threshold value by adjusting the putting unit.
The vision unit is used to identify a position deviation between the position distributions, i.e. between the projection of the first position distribution on the target tyre and the second position distribution. Specifically, the visual unit mainly comprises a camera and an image processing device, and images are shot through the camera and then recognized through the image processing device. The camera can be fixed on a camera support with feet contacting the ground, and can also be hung under a ceiling.
Typically, the second distribution of positions of the screw holes in the screw hole set is not fixed, since the tire is placed on the transport unit at random angles. On the basis, under the condition that the position of the screw group is fixed by the putting unit, namely under the condition that the first position distribution is fixed and the second position distribution is not fixed, the vision unit can identify the second position distribution and further identify the position deviation by only shooting the image of the target tire and further identifying the second position distribution through image processing; when the screw group is not fixed in position, that is, when the first position distribution is not fixed and the second position distribution is not fixed, the vision unit may recognize the first position distribution and the second position distribution by image processing by simultaneously capturing an image of the placement unit and an image of the target tire, and may recognize the position deviation.
In the embodiment of the disclosure, the control unit can be arranged to uniformly control the transportation unit, the release unit, the vision unit and the positioning unit to cooperatively operate. Furthermore, the control unit controls the action time of each unit, so that the feeding rhythm of the target tire with the screw group is matched with the rhythm of taking away and assembling the target tire by the tire assembling system, and the risk of feeding delay in the tire assembling process is avoided.
In the embodiment of the disclosure, the transportation unit, the delivery unit, the vision unit and the positioning unit may also be respectively provided with a communication module, so that the units operate independently and cooperatively through mutual communication. Furthermore, through mutual communication of the units, the units are matched with each other for action time, so that the beats of the tire and screw feeding system and the matched tire assembling system are unified, and the risk of feeding delay in the tire assembling process is avoided.
It can be seen that the tire and screw feeding system in the embodiment of the present disclosure, through the position deviation between the projection of the first position distribution of the screw in the screw group on the target tire and the second position distribution of the screw hole in the screw hole group identified by the vision unit, causes the positioning unit to adjust the position deviation to be smaller than the preset deviation threshold, i.e., causes the positioning unit to align the screw group with the screw hole group. And then put in the unit and can put into the screw group that aligns with screw group in step to realize the disposable input of screw, saved operating time and economic cost.
In one embodiment, the transport unit comprises:
a production line including a first tire location for carrying one tire and a second tire location for carrying at least one tire, respectively, the production line for transporting tires from the second tire location to the first tire location, wherein the tire at the first tire location is the target tire;
the partition plate is arranged between the first tire position and the second tire position and used for blocking the tire positioned at the second tire position from impacting the target tire when the partition plate is activated.
In this embodiment, the transport unit includes a baffle for impact protection in addition to the flow line for the flow transport of tires.
Specifically, the assembly line can accommodate at least two tires simultaneously, and the two tire positions of the assembly line are sequentially recorded as a second tire position and a first tire position according to the transportation direction of the tires. Wherein the first tire location is for carrying one tire and the second tire location is for carrying at least one tire. The transport direction of the tire on the production line is as follows: the second tire position to the first tire position. When the tire is transported to the first tire position, the tire is the target tire, and then the target tire is put in the screw group at the first tire position.
The partition board is arranged between the first tire position and the second tire position, and after the tires are transported to the first tire position to be used as target tires, the partition board is activated, so that the tires positioned at the second tire position are prevented from impacting the target tires, and the position of the target tires is kept stable when the target tires are thrown by the screw groups. When the target tire is removed, the spacer deactivates and no longer blocks the tire in the second tire location so that the tire in the second tire location is transported to the first tire location as the next target tire.
The partition refers to a member capable of functioning as a barrier, and is not necessarily a plate-like structure. The barrier may be an integral plate disposed above the flow line, the plate being lowered when activated to block a tire in the second tire location and raised when deactivated to no longer block a tire in the second tire location; the barrier may also be two separate blocks located on either side of the line, the two blocks being adjacent when activated to block a tyre in the second tyre location and being separated when deactivated to no longer block a tyre in the second tyre location.
In an embodiment, the transport unit further comprises:
the photoelectric switch is arranged at the first tire position and used for monitoring the light change of the first tire position and controlling the partition plate according to the light change.
In this embodiment, the diaphragm is controlled by sensing the change in light by the opto-electronic switch.
Specifically, photoelectric switch locates first tire position to the light of monitoring first tire position changes. The light state before the tire is transported to the first tire position and the light state after the tire is transported to the second tire position have certain difference to photoelectric switch can change activation and the inactivation of control baffle according to light, and then whether control baffle blocks.
It should be noted that, in the embodiments of the present disclosure, the assembly for controlling the partition board is not necessarily limited to the photoelectric switch. Specifically, the first tire position can be shot and identified through the vision unit, whether a target tire exists on the first tire position is determined, and then the partition plate is controlled correspondingly.
In one embodiment, the line transports tires through a plurality of rollers; the partition is arranged in a roller gap between the first tire position and the second tire position and used for rising when the target tire is transported to the first tire position and falling when the target tire is taken away.
In the embodiment, the production line is a roller line consisting of a plurality of rollers, and a certain gap is formed between every two adjacent rollers. The partition is arranged in the roller gap between the first tire and the second tire. When the target tire is transported to the first tire location, the barrier is activated to lift, thereby blocking the tire in the second tire location; when the target tire is removed, the separator deactivation is lowered so that the tire in the second tire location is transported to the first tire location as the next target tire.
It should be noted that in the embodiments of the present disclosure, the partition plate is not necessarily blocked by being lifted. Specifically, when the transportation unit is a conveyor belt for transporting the tire in a running water manner by a traction belt, the partition plate is arranged above the conveyor belt, so that the partition plate descends to block when activated.
In one embodiment, the dosing unit comprises:
a screw feeder for supplying the number of screws;
the limiting piece is used for limiting the number of the screws to the first position distribution to obtain the screw group;
and the screw placing piece is used for synchronously placing the screw group into the screw hole group.
In this embodiment, the releasing unit for releasing the set of screws into the set of screw holes of the target tire comprises three components, respectively: the screw feeding device comprises a screw feeding piece for providing screws, a limiting piece for limiting the screws and a screw releasing piece for releasing a screw group.
Specifically, the screw supplying part supplies a preset number of screws to the limiting part; the limiting pieces limit the number of the screws to be distributed at a first position, so that a screw group to be put into the screw hole group is obtained; and then the screw placing piece takes the screw group away from the limiting piece and synchronously places the screw group into the screw hole group of the target tire.
In one embodiment, the staple supply includes:
a screw magazine for accommodating batch dumped screws;
the nail feeding groove is butted with the limiting piece and used for accommodating an upright screw and conveying the upright screw to the limiting piece;
the air cylinder is arranged at the bottom of the screw bin, and screws in the screw bin are vertically arranged in the screw feeding groove through the pushing of the air cylinder.
In this embodiment, the screw supplying member for supplying the predetermined number of screws to the position limiting member includes three components, which are: the screw feeder comprises a screw bin for accommodating a batch of screws, which are usually in an inclined state, a screw feeding groove for transporting upright screws to a stopper, and a cylinder for vertically arranging the screws in the screw bin in the screw feeding groove.
In particular, the screw magazine has a certain hollow space so that a worker or a screw transporter can pour screws into the screw magazine in batches. It will be appreciated that the screws poured into the screw magazine are mostly inclined relative to the ground. The screws of the screw bin are vertically arranged in the screw feeding groove by the pushing of the air cylinder arranged at the bottom of the screw bin, and the screw feeding groove is butted with the limiting part. And then, the nail feeding groove transports the accommodated upright screws to the limiting part, so that the limiting part can limit a preset number of upright screws to be distributed at a first position to obtain an upright screw group, and the nail placing part vertically puts the upright screw group into a screw hole group of a target tire parallel to the ground.
In an embodiment, the position limiting member is an indexing plate including the number of openings, and the number of openings are distributed according to the second position distribution, wherein each opening is used for fixing an upright screw.
In this embodiment, the limiting member is an index plate for fixing the screw through the opening.
Specifically, the number of the openings is set on the index plate according to the number of the screw holes contained in the screw hole group; and the notches with the number are distributed according to the second positions by matching with the distribution of the second positions of the screw holes in the screw hole group. Because the area of the screw head is larger than the area of the cross section of the stud, the area of the opening is set to be between the area of the screw head and the area of the cross section of the stud, and therefore an upright screw can be fixed through each opening. When each notch on the indexing disc is fixed with an upright screw, an upright screw group is obtained, and the first position distribution of the screws in the upright screw group is the same as the second position distribution of the screw holes in the screw hole group.
In one embodiment, the staple remover comprises:
the electromagnetic gripper sucks the screw group from the limiting piece through upper electromagnetic induction and puts the screw group into the screw hole group through power-off demagnetization;
and the gripper arm is used for controlling the electromagnetic gripper to move to the position matched with the limiting piece and controlling the electromagnetic gripper to move to the position matched with the target tire.
In this embodiment, the screw releasing member for releasing the screw set includes two parts, which are respectively: the electromagnetic gripper is used for sucking and then throwing in the screw group and the gripper arm is used for controlling the electromagnetic gripper to move.
The gripper arm controls the electromagnetic gripper to move to a position where the electromagnetic gripper can be matched with the limiting part to suck the screw group, and then the electromagnetic gripper generates the electromagnetic force to suck the screw group from the limiting part; and then the electromagnetic gripper arm controls the electromagnetic gripper which sucks the screw group to move to the position where the screw group can fall into the screw hole group by matching with the target tire, and then the electromagnetic gripper is de-energized and demagnetized, and the screw group falls into the screw hole group of the target tire, so that the putting in of the screw group is realized.
Specifically, the gripper arm can control the electromagnetic gripper to move in the horizontal direction through the motion parallel to the horizontal plane, and can also control the electromagnetic gripper to lift in the vertical direction through the motion perpendicular to the horizontal plane. In the process of completely taking and placing nails for one time: the gripper arm controls the electromagnetic gripper to horizontally move to the upper part of the screw group, then the electromagnetic gripper descends to a position where the distance between the electromagnetic gripper and the screw group is less than the magnetic force suction distance, and then the electromagnetic gripper generates an electromagnetic suction screw group; the electromagnetic gripper which sucks the screw group is controlled by the gripper arm to lift, then horizontally moves to the position above the screw hole group, then descends to the position where the screw group can be stably put in, and then the electromagnetic gripper is de-energized and demagnetized to put the screw group into the screw hole group; the gripper arm controls the electromagnetic gripper to rise to a safe height. And circulating in this way, and synchronously putting the screw groups into the screw hole groups of each target tire.
The electromagnetic gripper comprises a gripper arm, a linear guide rail module, a linear guide rail module and an electromagnetic gripper, wherein the gripper arm can be driven by the linear guide rail module, the electromagnetic gripper is guaranteed to accurately move, and the electromagnetic gripper is guaranteed to.
It should be noted that, in the embodiment of the present disclosure, the screw releasing member may further adopt a mechanical gripper to grasp and release the screw group.
In one embodiment, the positioning unit includes a plurality of vertical rollers that are perpendicular to the target tire and that collectively grip the target tire, wherein the target tire is adjusted by rotation of at least one of the vertical rollers to adjust the positional deviation to be less than the deviation threshold.
In this embodiment, the positioning unit adjusts the target tire by rotation of the vertical roller, thereby adjusting the positional deviation to be less than the deviation threshold.
Specifically, the positioning unit includes a plurality of vertical rollers, each of which is perpendicular to the target tire and which collectively grip the target tire. The clamped target tire can be driven to rotate by the rotation of at least one vertical roller, so that the second position distribution of the screws in the screw hole group of the target tire is adjusted, and the position deviation is adjusted to be smaller than a deviation threshold value.
In the embodiment of the present disclosure, the target tire may be fixed by the mechanical gripper, and the target tire is adjusted by rotating the mechanical gripper, so that the position deviation is adjusted to be smaller than the deviation threshold.
In one embodiment, the vision unit is further configured to identify whether the screw set has been placed into the screw hole set after the placement unit has placed the screw set;
if the vision unit identifies that the screw group is not put into the screw hole group, the system reports an error and processes the target tire according to a preset error clearing flow;
if the vision unit recognizes that the screw set has been put into the screw hole set, the target tire to which the screw set has been put is fed.
In this embodiment, the visual unit is used to identify, in addition to the positional deviation, whether a screw set has been inserted into the screw hole set.
And if the screw group is not put into the screw hole group, the tire and screw feeding system reports errors and processes the target tire according to a preset error clearing flow.
The error clearing process may be: the target tire is removed from the transfer unit and the transport and feeding of the next target tire is continued. For example: the target tire has 5 screw holes, and the throwing unit has 1 screw hole of screw group's throwing back at least and does not have the screw. The target tire may be removed from the first tire location by the tire assembly robot or by another component having gripping and moving functions. And then the transportation unit transports the tire of the second tire position to the first tire position, so that the tire and screw feeding system obtains a next target tire, and the next target tire is fed by putting a screw group.
The error clearing process may also be: the releasing unit continues to release the screw so that the screw group is released into the screw group of the target tire. For example: the target tire is provided with 5 screw holes, and after the throwing unit throws the screw group, the 5 screw holes are not provided with screws, the throwing unit again grabs the screw group and throws the screw group again; or, the target tire has 5 screw holes, and after the putting unit puts in the screw group, 2 screw holes are provided without screws, and then the putting unit can grab 2 screws and put the 2 screws into the screw holes without screws under the cooperation of the vision unit.
If the screw set has been placed into the screw set, the target tire to which the screw set has been placed is fed (e.g., the target tire to which the screw set has been placed is fed to an assembly robot for assembling the tire to the vehicle body).
FIG. 1 illustrates a layout view of a tire assembly system with which a tire and screw feeding system is mated, according to one embodiment of the present disclosure.
As shown in fig. 1, in this embodiment, the tire assembling system is composed of a controller 2, a tire assembling robot 3, and a tire and screw feeding system 4.
Specifically, the operation of the tire assembling robot 3 and the operation of the tire and screw feeding system 4 are controlled by commands issued by the controller 2.
Under the control of the controller 2: the tire and screw feeding system 4 transports the tire and synchronously puts the screw group into the screw hole group of the target tire; the tire assembling robot 3 takes out and assembles the target tire to which the screw group has been put to the vehicle body 1.
It can be seen that by the arrangement of this embodiment, the various components are adjacent to each other, the overall design of the tire and screw feeding system is compact, and the floor space is reduced.
FIG. 2 illustrates a front view of the tire and screw feeder system of FIG. 1 according to one embodiment of the present disclosure.
As shown in fig. 2, in this embodiment, the tire and screw feeding system 4 includes a roller line 5, a tire lifting member 8, a tire positioning member 9, a pick-and-place nail 10, a camera fixing bracket 12, and a vision unit 13.
Specifically, the roller line 5 includes a plurality of equally spaced rollers that rotate to transport tires from the right end to the left end. In the roller assembly line 5: at the tail end of the tire transportation direction, namely, the leftmost end is a material taking position 7, and a target tire is put into a screw group on the material taking position 7 and taken away by the tire assembling robot 3; the right side of the material taking position 7 is provided with a buffer position 6, and after the target tire is taken away, the tire on the buffer position 6 is transported to the material taking position 7 to become the next target tire; to the right of the buffer level 6, i.e. the beginning of the tire transport direction, is a loading level at which the tire starts to be placed on the roller line 5 and transported.
The tire jacking piece 8 is arranged below the material taking position 7, and lifts a target tire on the material taking position 7 away from the roller assembly line 5 through a jacking structure. Under the state of lifting, the positioning adjustment of the target tire is more convenient.
The tire positioning member 9 comprises a plurality of vertical rollers perpendicular to the roller line 5. These vertical rollers abut the edge of the target tire and hold the target tire. And controlling the target tire to rotate through the rotation of at least one vertical roller, so as to adjust the position of the screw hole group on the target tire.
The nail taking and placing part 10 is arranged above the material taking position 7, and the height of the nail taking and placing part 10 is higher than the thickness of the tire. The nail taking and placing component 10 generates electromagnetic suction screw groups through an electromagnetic gripper 11 arranged on the nail taking and placing component, and then the power is cut off and the screw groups are placed into screw hole groups of a target tire below the nail taking and placing component.
The vision unit 13 is arranged above the material taking position 7 under the fixation of the camera fixing support 12, and the visual angle of the vision unit 13 at least covers the material taking position 7. Before the putting operation is performed by the screw taking and placing device 10, the vision unit 7 shoots a target tire, processes the shot image to identify the position of the screw group, and assists the tire positioning device 9 in adjusting the position of the screw group to be matched with the position of the screw group sucked by the electromagnetic gripper 11. After the picking and placing of the screw 10 is performed, the vision unit 7 shoots the target tire again, and processes the shot image to recognize whether the screw set is picked up in the screw hole set.
Specifically, the vision unit 13 includes a camera and a camera light source. The camera lens and camera light source are axially aligned and aimed at the target tire. The camera fixing bracket 12 is provided with a footing which is contacted with the ground so as to prevent the vibration of the roller assembly line 5 from influencing the shooting of the camera; the connecting rod used for fixing the vision unit 13 in the camera fixing support 12 can slide vertically to the roller assembly line 5 so as to adjust the height of the vision unit 13, and can also slide parallel to the roller assembly line 5 so as to adjust the relative position between the vision unit 13 and the material taking position 7.
FIG. 3 illustrates a top view of the tire and screw feeding system of FIG. 1 according to one embodiment of the present disclosure.
As shown in fig. 3, in this embodiment, the tire positioning member 9 includes 4 vertical rollers, and the target tire is held by the 4 vertical rollers and the position of the screw hole group on the target tire is adjusted.
The nail supply 14 is arranged on one side of the roller assembly line 5 close to the nail taking and placing device 10. The electromagnetic gripper 11 for taking and placing the nail 10 moves to the position of the nail supplying component 14 to suck the screw group, and then moves to the position right above the target tire to put the screw group into the screw hole group.
FIG. 4 illustrates a schematic structural view of the staple supply of FIG. 1 according to one embodiment of the present disclosure.
As shown in fig. 4, in this embodiment, the staple supply 14 includes a screw magazine 15, an in-line feed 16, and an indexing disk 17.
In particular, the magazine 15 is intended to accommodate a batch of screws, which lie horizontally and are pushed by a cylinder located at the bottom of the magazine 15 into the slots of the in-line feed 16. Since the area of the screw head is larger than the cross-sectional area of the stud, the screw is adjusted to an upright position.
The in-line screw feeder 16 feeds the upstanding screws one by one into a U-shaped cutout in the indexing disk 17. The position distribution of the U-shaped openings on the index plate 17 is the same as the position distribution of the screw holes of the tire. Therefore, after the U-shaped openings on the dividing disc 17 are all fed with the vertical screws, the screws on the dividing disc 17 form a screw group to be put into the screw hole group, and therefore the screws can be taken away by the electromagnetic gripper 11 on the screw taking and placing component 10 and put into the screw hole group.
It should be noted that fig. 1 to fig. 4 are only exemplary of possible solutions of an embodiment of the present disclosure, and should not limit the function and the scope of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A tire and screw feeding system, comprising:
a transport unit for transporting the tire;
the releasing unit is used for synchronously releasing a screw group containing a preset number of screws into a screw hole group containing the number of screw holes of a target tire, and the first position distribution of the screws in the screw group is the same as the second position distribution of the screw holes in the screw hole group;
a vision unit for identifying a position deviation between a projection of the first position distribution on the target tire and the second position distribution;
and the positioning unit is used for adjusting the position deviation to be smaller than a preset deviation threshold value by adjusting the target tire or the putting unit so that the putting unit synchronously puts the screw group into the screw hole group.
2. The system of claim 1, wherein the transport unit comprises:
a line comprising a first tire station for carrying one tire and a second tire station for carrying at least one tire, the line for transporting tires from the second tire station to the first tire station, wherein the tire at the first tire station is the target tire;
a barrier disposed between the first tire location and the second tire location, the barrier being configured to block a tire in the second tire location from impacting the target tire when activated.
3. The system of claim 2, wherein the transport unit further comprises:
the photoelectric switch is arranged at the first tire position and used for monitoring the light change of the first tire position and controlling the partition plate according to the light change.
4. The system of claim 2, wherein the flow line transports tires through a plurality of rollers;
the partition is arranged in a roller gap between the first tire position and the second tire position and used for rising when the target tire is transported to the first tire position and falling when the target tire is taken away.
5. The system of claim 1, wherein the delivery unit comprises:
a screw supply for supplying the number of screws;
the limiting part is used for limiting the number of screws to the first position distribution to obtain the screw group;
and the screw placing piece is used for synchronously placing the screw group into the screw hole group.
6. The system of claim 5, wherein the staple supply comprises:
a screw magazine for holding batch dumped screws;
the nail feeding groove is butted with the limiting piece and used for accommodating an upright screw and conveying the upright screw to the limiting piece;
the air cylinder is arranged at the bottom of the screw bin, and screws in the screw bin are vertically arranged in the screw feeding grooves through the pushing of the air cylinder.
7. The system of claim 5, wherein said retaining member is an indexing disk comprising said number of notches, said number of notches being distributed according to said second position distribution, wherein each notch is adapted to retain an upstanding screw.
8. The system of claim 5, wherein the staple pusher comprises:
the electromagnetic gripper sucks the screw group from the limiting piece through electrification and demagnetization, and puts the screw group into the screw hole group through power failure;
and the gripper arm is used for controlling the electromagnetic gripper to move to the position matched with the limiting piece and controlling the electromagnetic gripper to move to the position matched with the target tire.
9. The method of claim 1, wherein the positioning unit comprises a plurality of vertical rollers that are perpendicular to the target tire and that collectively grip the target tire, wherein the target tire is adjusted by rotation of at least one of the vertical rollers to adjust the positional deviation to less than the deviation threshold.
10. The system according to claim 1, wherein the vision unit is further configured to identify whether the set screw has been placed in the set of screw holes after the placement unit has placed the set screw;
if the vision unit identifies that the screw group is not put into the screw hole group, the system reports an error and processes the target tire according to a preset error clearing flow;
if the vision unit identifies that the screw set has been placed into the screw set, then the target tire into which the screw set has been placed is fed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011206028.2A CN112404928A (en) | 2020-11-02 | 2020-11-02 | Tire and screw feeding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011206028.2A CN112404928A (en) | 2020-11-02 | 2020-11-02 | Tire and screw feeding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112404928A true CN112404928A (en) | 2021-02-26 |
Family
ID=74826889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011206028.2A Pending CN112404928A (en) | 2020-11-02 | 2020-11-02 | Tire and screw feeding system |
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| Country | Link |
|---|---|
| CN (1) | CN112404928A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113581326A (en) * | 2021-08-10 | 2021-11-02 | 宁波奔野重工股份有限公司 | Be used for tractor production to use tire positioning equipment |
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