An aircraft tire tread sorting and stacking robot

Abstract

The utility model discloses an aviation tire tread sorting stacking robot belongs to tire production and processing equipment technical field. The robot includes mobile station, elevating system, stacking mechanism, clamping device, first placing rack and second placing rack and control box. The elevating system realizes height adjustment through the cylinder drive X type frame, and the stacking mechanism is equipped with six -axis machine arm and flexible clamping jaw, can accurate capture and carry to different size tire tread. Multiple sets of flexible clamping jaw evenly distribute in the clamping device all around, and are equipped with antiskid pad, ensure the stability and security in the process of capturing. The robot system realizes the efficient, accurate sorting and stacking of aviation tire tread through the automation operation, improves production efficiency and operation quality, has reasonable structure, convenient operation, strong adaptability and the advantages such as.

Description

Technical Field

[0001] This utility model belongs to the technical field of tire production and processing equipment, specifically relating to an aircraft tire tread sorting and palletizing robot. Background Technology

[0002] Existing equipment for tire tread sorting and palletizing typically possesses certain mobility and clamping capabilities, meeting to some extent the handling requirements for tires of different specifications. However, due to the diverse types, significant weight, and irregular surface shapes of aircraft tire treads, higher demands are placed on the adaptability and clamping stability of the clamps. Furthermore, in actual operation, the stacking height and position of the tire treads often change, which also poses challenges to the equipment's lifting adjustment capabilities and positioning accuracy. Utility Model Content

[0003] The purpose of this invention is to provide an aircraft tire tread sorting and palletizing robot, which aims to solve the problems in the prior art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] An aircraft tire tread sorting and palletizing robot includes:

[0006] Mobile station;

[0007] A lifting mechanism, which is connected to the upper end of the mobile platform;

[0008] A palletizing mechanism, which is connected to the upper end of a lifting mechanism;

[0009] A clamping device, which is connected to the side end of the palletizing mechanism;

[0010] The first placement rack and the second placement rack are respectively disposed on the side end of the moving platform;

[0011] A control box is located on the other side of the mobile platform.

[0012] As a preferred embodiment of this utility model, the lifting mechanism further includes a lower plate, a slide groove, an X-shaped frame, an upper plate, and a cylinder. The lower plate is fixedly connected to the upper end of the moving platform. The slide groove is opened at the side end of the lower plate. The X-shaped frame is connected to the side end of the slide groove via a rotating shaft. The upper plate is rotatably connected to the upper end of the X-shaped frame via a rotating shaft. The cylinder is fixedly connected to the upper end of the lower plate, and the output end of the cylinder is connected to the X-shaped frame.

[0013] As a preferred embodiment of this utility model, the palletizing mechanism further includes an L-shaped reinforcing plate and a six-axis robotic arm. The L-shaped reinforcing plate is fixedly connected to the side end of the palletizing mechanism and is connected to the upper plate by bolts. The six-axis robotic arm is connected to the upper end of the palletizing mechanism and is connected to the clamping device.

[0014] As a preferred embodiment of this utility model, the side end of the clamping device is connected to a flexible gripper, and the flexible gripper is in four groups evenly distributed on the side end of the clamping device.

[0015] As a preferred embodiment of this utility model, anti-slip pads are provided on the side ends of all four sets of flexible grippers.

[0016] In a preferred embodiment of this utility model, the lower end of the mobile platform is connected to a bracket, and the lower end of the bracket is fixedly connected to a base plate.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. In this solution, the clamping device is equipped with four sets of evenly distributed flexible grippers, which, together with the anti-slip pad, can stably grip the tire treads of different shapes and sizes without damaging the treads, effectively improving the equipment's compatibility with various tire tread specifications and the reliability of clamping.

[0019] 2. In this solution, the lifting function is achieved by using a cylinder to drive the X-shaped frame structure, which can precisely adjust the height of the palletizing mechanism to adapt to different work positions and stacking height requirements, thereby improving the flexibility and positioning accuracy of the whole machine operation and meeting the requirements of automated palletizing under complex working conditions. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a first-view perspective perspective view of the present invention;

[0022] Figure 2 This is a second-view perspective perspective view of the present invention;

[0023] Figure 3 This is an exploded view of the present invention;

[0024] Figure 4 This utility model Figure 3 Exploded view of the central lifting mechanism.

[0025] In the diagram: 1. Moving platform; 101. Support; 102. Base plate; 2. Lifting mechanism; 201. Lower plate; 202. Slide groove; 203. X-shaped frame; 204. Upper plate; 205. Cylinder; 3. Palletizing mechanism; 301. L-shaped reinforcing plate; 302. Six-axis robotic arm; 303. Clamping device; 304. Flexible gripper; 305. Anti-slip mat; 4. Control box; 5. First placement rack; 6. Second placement rack. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Example 1

[0028] Please see Figure 1-4 The present invention provides the following technical solution:

[0029] An aircraft tire tread sorting and palletizing robot includes:

[0030] Mobile station 1;

[0031] Lifting mechanism 2 is connected to the upper end of the moving platform 1;

[0032] Palletizing mechanism 3 is connected to the upper end of lifting mechanism 2;

[0033] Clamping device 303 is connected to the side end of palletizing mechanism 3;

[0034] The first placement frame 5 and the second placement frame 6 are respectively disposed on the side end of the movable platform 1;

[0035] Control box 4 is located on the other side of the mobile platform 1.

[0036] In a specific embodiment of this utility model, when aircraft tire treads need to be sorted and stacked, the moving platform 1 first moves the entire device to the designated working position. After the device reaches the working position, the control box 4 activates the lifting mechanism 2, raising the stacking mechanism 3 to a suitable height; this ensures that the clamping device 303 can accurately approach the tire tread to be processed.

[0037] Once the lifting mechanism 2 is adjusted to the appropriate height, the six-axis robotic arm 302 in the palletizing mechanism 3 begins to move, driving the gripping device 303 towards the tire tread on the first placement rack 5 or the second placement rack 6. When the gripping device 303 reaches the target position, the flexible gripper 304, aided by the anti-slip pad 305, firmly and gently grasps the tire tread. After the tire tread is securely gripped, the six-axis robotic arm 302 will transport the tire tread to the designated storage location according to a preset path.

[0038] Once a tire tread has been sorted and correctly placed, the control system determines whether to continue to the next work cycle based on a pre-set program. By repeatedly performing this process, the robot can efficiently and accurately complete the sorting and palletizing of multiple tire treads. After all pre-defined operations are completed, the mobile station 1 can move the entire device back to its initial position or the next working position, preparing for the next round of operations.

[0039] Please refer to the details. Figure 1-4 The lifting mechanism 2 also includes a lower plate 201, a slide 202, an X-shaped frame 203, an upper plate 204, and a cylinder 205. The lower plate 201 is fixedly connected to the upper end of the moving platform 1. The slide 202 is opened at the side end of the lower plate 201. The X-shaped frame 203 is connected to the side end of the slide 202 through a rotating shaft. The upper plate 204 is rotatably connected to the upper end of the X-shaped frame 203 through a rotating shaft. The cylinder 205 is fixedly connected to the upper end of the lower plate 201. The output end of the cylinder 205 is connected to the X-shaped frame 203.

[0040] In this embodiment: when the height of the palletizing mechanism 3 needs to be adjusted, the control box 4 activates the cylinder 205. The output end of the cylinder 205 pushes or pulls one end of the X-shaped frame 203, causing the X-shaped frame 203 to undergo relative displacement within the slide groove 202. This causes the X-shaped frame 203 to move the upper plate 204 up and down, thereby achieving the overall lifting and lowering of the palletizing mechanism 3 and its upper components. When the X-shaped frame 203 unfolds under the action of the cylinder 205, the upper plate 204 rises; when the X-shaped frame 203 retracts, the upper plate 204 descends. This allows for flexible adaptation to the needs of sorting and palletizing operations at different heights.

[0041] Once the lifting action is completed, the system automatically locks the position of cylinder 205 to prevent deviation or sinking during operation; thus, the stability and positioning accuracy of the palletizing mechanism 3 during operation are ensured.

[0042] Please refer to the details. Figure 1-4 The palletizing mechanism 3 also includes an L-shaped reinforcing plate 301 and a six-axis robotic arm 302. The L-shaped reinforcing plate 301 is fixedly connected to the side end of the palletizing mechanism 3 and is connected to the upper plate 204 by bolts. The six-axis robotic arm 302 is connected to the upper end of the palletizing mechanism 3 and is connected to the clamping device 303.

[0043] In this embodiment: when precise sorting and stacking of aircraft tire treads is required, the entire system is first started via control box 4, and the moving platform 1 is moved to the designated working position. Once the equipment is in place, cylinder 205 in lifting mechanism 2 starts working, driving X-frame 203 to move up and down along slide 202, thereby adjusting the upper plate 204 and its components to a suitable height.

[0044] Once the lifting mechanism 2 is adjusted, the L-shaped reinforcing plate 301, acting as a connector, ensures a stable connection between the stacking mechanism 3 and the lifting mechanism 2, enhancing the overall structural stability and load-bearing capacity. The L-shaped reinforcing plate 301 is bolted to the upper plate 204, providing additional support and rigidity.

[0045] Once all preparations are complete, the six-axis robotic arm 302 begins to move according to a preset program. It is connected to the upper end of the palletizing mechanism 3 and linked to the gripping device 303. When the six-axis robotic arm 302 receives an instruction, it can move flexibly in three-dimensional space and accurately position itself on the tire tread of the first placement rack 5 or the second placement rack 6.

[0046] When the six-axis robotic arm 302 reaches the target position, the flexible grippers 304 in the gripping device 303 unfold and gently grasp the tire tread, while the anti-slip pad 305 ensures the safety and reliability of the gripping process. Once the tire tread is securely gripped, the six-axis robotic arm 302 moves again to transport the tire tread to the predetermined storage position and releases the tire tread in the same manner.

[0047] In this way, once a tire tread has been sorted and stacked, the system automatically resets to prepare for the next operation, repeating the above steps until all tire treads have been processed accurately. Throughout the process, all components work together to achieve an efficient and precise operating procedure.

[0048] Please refer to the details. Figure 1-4 The side end of the clamping device 303 is connected to a flexible gripper 304, which consists of four groups evenly distributed on the side end of the clamping device 303.

[0049] In this embodiment, a flexible gripper 304 is connected to the side end of the gripping device 303. The flexible gripper 304 consists of four sets evenly distributed on the side end of the gripping device 303. When precise gripping of the aircraft tire tread is required, the control box 4 will issue a command to start the six-axis robotic arm 302, moving it to the designated position.

[0050] When the six-axis robotic arm 302 reaches above the tire tread, the system calculates the optimal gripping angle and position and controls the gripping device 303 to descend. When the gripping device 303 approaches the tire tread, the four sets of flexible grippers 304 begin to move, and each set of flexible grippers 304 is equipped with an anti-slip pad 305 to ensure stability and safety during the gripping process.

[0051] When the flexible grippers 304 contact the tire tread, they gently close according to a preset pressure value. The four sets of flexible grippers 304, evenly distributed around the gripping device 303, can apply force simultaneously from different directions, ensuring that the tire tread is gripped smoothly and firmly. In this way, even when facing irregularly shaped or smooth tire treads, slippage or damage can be effectively avoided.

[0052] Once the tire tread is successfully gripped, the six-axis robotic arm 302 will transport the tire tread to the designated storage location according to the pre-programmed path. Upon reaching the target location, the flexible gripper 304 will readjust its opening angle and smoothly release the tire tread, ensuring it is accurately placed in the predetermined position.

[0053] In this way, by using four sets of evenly distributed flexible grippers 304 in conjunction with a precision-controlled six-axis robotic arm 302, efficient and precise sorting and palletizing of aircraft tire treads is achieved, improving the flexibility and reliability of the entire system.

[0054] Please refer to the details. Figure 1-4 The sides of all four sets of flexible grippers 304 are provided with anti-slip pads 305.

[0055] In this embodiment: when the clamping device 303 approaches the tread of the aircraft tire, the six-axis robotic arm 302 adjusts the clamping angle according to the position and posture set by the control system, so that the flexible gripper 304 is accurately aligned with the gripping area of ​​the tire tread.

[0056] When the flexible grippers 304 contact the tire tread, the anti-slip pad 305 first contacts the tread surface, utilizing its high coefficient of friction to prevent slippage during clamping. Because the four sets of flexible grippers 304 are evenly distributed around the clamping device 303, combined with the multi-point contact design of the anti-slip pad 305, stable clamping of the tire tread can be achieved.

[0057] When clamping force is applied, the anti-slip pad 305 provides sufficient clamping force without damaging the tire tread, ensuring that the tire tread does not shift or detach during handling. When the robot performs handling actions, the anti-slip pad 305 effectively maintains clamping stability, even during high-speed operation or directional changes, ensuring operational safety.

[0058] Thus, once the entire sorting and palletizing process is completed, the clamping device 303 releases the tire tread, and the anti-slip pad 305 disengages, completing one full work cycle. In this way, when multiple tire treads are precisely gripped and neatly stacked in sequence, the design of the anti-slip pad 305 significantly improves the safety and reliability of the clamping process, meeting the high standards required for automated processing of aircraft tire treads.

[0059] Please refer to the details. Figure 1-4 The lower end of the mobile platform 1 is connected to a bracket 101, and the lower end of the bracket 101 is fixedly connected to a base plate 102.

[0060] In this embodiment: when sorting and stacking of aircraft tire treads is required; the entire device moves together to the target working area via the moving table 1, which drives the support 101 and the base plate 102.

[0061] Before the equipment starts operating, the base plate 102 contacts the ground, providing a stable support foundation for the entire robot. Because the base plate 102 has a large area and a robust structure, it effectively distributes the weight of the entire machine, preventing tilting or displacement during operation.

[0062] Once the moving platform 1 is positioned, the support 101 forms a reliable connection between the moving platform 1 and the base plate 102, ensuring the stability and safety of the upper components such as the lifting mechanism 2 and the palletizing mechanism 3 during operation. When the six-axis robotic arm 302 performs gripping or handling operations, the support 101 and the base plate 102 work together to absorb and buffer some vibrations and impacts, thereby improving the smoothness of equipment operation.

[0063] In this way, once the entire sorting and palletizing process is completed, the mobile stage 1 can move the support 101 and base plate 102 together to the next workstation or return to its original position to prepare for the next round of operation. Thus, when the equipment is running repeatedly, the stable cooperation structure between the support 101 and the base plate 102 effectively ensures the reliability and safety of the robot during long-term continuous operation.

[0064] The working principle and usage process of this utility model are as follows: First, the aircraft tire treads to be processed are placed on the first placement rack 5 and the second placement rack 6 respectively, ensuring that they are neatly arranged for subsequent gripping. After the equipment is started, the control box 4 controls the moving table 1 to move along the set path to the target work position. The bracket 101 and the base plate 102 provide stable support for the whole machine, ensuring stability during operation. Subsequently, the lifting mechanism 2 starts to work. The cylinder 205 drives the X-shaped frame 203 to unfold or retract, driving the upper plate 204 to rise to a suitable height to adapt to the operation requirements of tire treads of different specifications. The stacking mechanism 3 is connected to the upper plate 204 through the L-shaped reinforcing plate 301 to improve the overall structural strength and stability. The six-axis robotic arm 302 moves according to the preset program, driving the clamping device 303 to move to the target position. The clamping device 303 has four sets of evenly distributed flexible grippers 304 on its side. Each set of grippers is equipped with an anti-slip pad 305 at the end, which effectively prevents slippage and protects the tire tread surface from damage during clamping. The flexible gripper 304 closes after contacting the tire tread, firmly clamping it. The six-axis robotic arm 302 lifts the tread and transports it above the designated palletizing area, then slowly lowers it and smoothly places the tread in the predetermined position. After completing one palletizing operation, the system determines whether to continue to the next round of tasks; if so, the above steps are repeated. After all tire treads have been sorted, the six-axis robotic arm 302 resets, the lifting mechanism 2 descends to the initial position, and the moving table 1 returns to the starting point or enters the next workstation, ready for the next round of operations.

[0065] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An aircraft tire tread sorting and palletizing robot, characterized in that, include: Mobile station (1); A lifting mechanism (2) is connected to the upper end of the moving platform (1); Palletizing mechanism (3), which is connected to the upper end of lifting mechanism (2); A clamping device (303) is connected to the side end of the palletizing mechanism (3); The first placement frame (5) and the second placement frame (6) are respectively disposed on the side end of the moving platform (1); Control box (4) is located on the other side of the mobile platform (1).

2. The aircraft tire tread sorting and palletizing robot according to claim 1, characterized in that: The lifting mechanism (2) further includes a lower plate (201), a slide (202), an X-shaped frame (203), an upper plate (204), and a cylinder (205). The lower plate (201) is fixedly connected to the upper end of the moving platform (1). The slide (202) is opened at the side end of the lower plate (201). The X-shaped frame (203) is connected to the side end of the slide (202) through a rotating shaft. The upper plate (204) is rotatably connected to the upper end of the X-shaped frame (203) through a rotating shaft. The cylinder (205) is fixedly connected to the upper end of the lower plate (201). The output end of the cylinder (205) is connected to the X-shaped frame (203).

3. The aircraft tire tread sorting and palletizing robot according to claim 2, characterized in that: The palletizing mechanism (3) also includes an L-shaped reinforcing plate (301) and a six-axis robotic arm (302). The L-shaped reinforcing plate (301) is fixedly connected to the side end of the palletizing mechanism (3). The L-shaped reinforcing plate (301) is connected to the upper plate (204) by bolts. The six-axis robotic arm (302) is connected to the upper end of the palletizing mechanism (3). The six-axis robotic arm (302) is connected to the clamping device (303).

4. The aircraft tire tread sorting and palletizing robot according to claim 3, characterized in that: The side end of the clamping device (303) is connected to a flexible gripper (304), and the flexible gripper (304) consists of four groups evenly distributed on the side end of the clamping device (303).

5. The aircraft tire tread sorting and palletizing robot according to claim 4, characterized in that: The sides of all four sets of flexible grippers (304) are provided with anti-slip pads (305).

6. The aircraft tire tread sorting and palletizing robot according to claim 5, characterized in that: The lower end of the mobile platform (1) is connected to a bracket (101), and the lower end of the bracket (101) is fixedly connected to a base plate (102).

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