A method for automatically stacking tires

Abstract

The present invention relates to a method for automatically cross-stacking tires, comprising a host computer system, a robot system and a transfer frame for stacking tires, the host computer system comprising a database, and the method comprising the following steps in sequence: S1 respectively obtaining size information of the transfer frame and the tire, S2 manually inputting the size information and storing it in the database, S3 searching for stacking information of the combination of the two in the database, S4 the host computer system calculating the stacking information in real time, and S5 the robot system receiving the stacking information and stacking the tires according to the coordinate information; the advantages of the present invention are as follows: since the robot system can automatically stack the tires according to the coordinate information of the stacking information, the work intensity and labor cost of manual stacking by operators are greatly reduced, the host computer system can calculate the stacking information in real time according to the size information of the transfer frame and the tire, can simulate the number of tires in a single transfer frame, and is conducive to warehousing and logistics management.

Description

Technical Field

[0001] The invention relates to a method for automatically cross-stacking tires. Background Art

[0002] In the tire manufacturing industry, finished tires need to be stored by stacking them in transfer boxes, and then storing the transfer boxes in the warehouse. With the progress and development of the times, the number of cars in the market is increasing, and the market demand for tires associated with them is also increasing. For tire manufacturers, a high-efficiency and high-space utilization tire stacking method is needed to cope with the growing orders.

[0003] There are three main methods of tire stacking:

[0004] 1. Side-by-side vertical stacking: Two baffles are welded at the bottom of the tire transfer frame to limit the relative movement of the tires. Stand the tire up and place it in the frame with its cylindrical surface tangent to the two baffles. Put the second tire into the transfer frame in the same posture and make the side of the tire tangent to the side of the first tire. The remaining tires are placed in the transfer frame in the same way.

[0005] 2. Vertical stacking: Place the tire flat in the transfer box, and stack the second tire on top of it in the same posture and coaxially, and the remaining tires are placed in the transfer box in turn in the same way;

[0006] 3. Cross-mode stacking: The tires are placed and stacked in the transfer frame at a certain angle, with the tires interlaced and nested with each other.

[0007] The first solution will cause a waste of space. In tire storage, the transfer boxes need to be stacked and stored in the warehouse. Therefore, when designing the transfer boxes, the height of the transfer boxes should be larger than the diameter of the largest tire to be placed. For small tires, there will be a lot of space above the tires and on the top of the transfer boxes that cannot be used; the second solution will cause a waste of space, and the tires in the transfer boxes are easy to tip over. The tires cannot fill the space of the transfer box, and because of the existence of gaps, the tires are not stable enough. During the forklift transfer process, tire tipping accidents often occur. Compared with the first and second solutions, the third solution has a greater space utilization rate. Due to the characteristics of the nested mode, the overall structure is more stable, but this type of stacking is currently completed manually, and the number of tires of different sizes stacked in the transfer box also needs to be manually tested, which requires a lot of manpower cost investment. Summary of the invention

[0008] The object to be achieved by the present invention is to provide a method for automatically cross-stacking tires, which can realize automatic stacking of tires and reduce the investment cost of operators.

[0009] In order to solve the above technical problems, the present invention is implemented by the following technical solutions: a method for automatically cross-stacking tires, comprising a host computer system, a robot system and a transfer frame for stacking tires, the host computer system comprising a database, and the method sequentially comprising the following steps:

[0010] S1: Get the size information of the transfer box and the tire respectively, and determine whether the size information is in the database. If the size information of both is in the database, go to S3; if the size information of both is not in the database, go to S2;

[0011] S2: Manually input the size information and store it in the database;

[0012] S3: Search the database for the stacking information of the combination of the two according to the size information obtained in S1. The stacking information includes the stacking coordinates and the stacking quantity. If the database has the stacking information of the combination of the two, then go to S5. If the database does not have the stacking information of the combination of the two, then go to S4.

[0013] S4: The upper computer system calculates the palletizing information in real time. In the palletizing information, the first tire of the first layer is placed flat on the transfer frame, and the center point connection line of the tires after stacking is a diamond shape. The palletizing information is stored in the database;

[0014] S5: The host computer system transmits the palletizing information in the database or the palletizing information calculated in S4 to the robot system. The robot system receives the palletizing information and stacks the tires according to the coordinate information.

[0015] Preferably, the size information of the transfer box in step S1 includes the length, width and height of the transfer box, and the size information of the tire in step S1 includes the outer diameter, inner diameter, width and rim width of the tire.

[0016] Preferably, the transfer frame and the tire are both provided with a QR code, and the size information of the transfer frame and the tire can be obtained by scanning the QR code respectively.

[0017] Preferably, the host computer system further includes an alarm, which sends an alarm prompt to the operator when there is no size information in the database in step S1.

[0018] Preferably, the stacking coordinates and the stacking quantity in step S4 are calculated according to the tire stacking angle α. Assuming that the stacking number of odd-numbered tire layers is n, the tire stacking angle α is calculated according to the following formula:

[0019]

[0020] Where: a is the outer diameter of the tire, b is the width of the tire, d is the inner diameter of the tire, and L is the length of the transfer frame.

[0021] Let f(α)=0 and solve for α.

[0022] Preferably, the stacking coordinates of the first layer of tires are:

[0023]

[0024]

[0025]

[0026]

[0027] The stacking coordinates of the second layer of tires are:

[0028]

[0029]

[0030]

[0031]

[0032] The stacking coordinates of the tires in the i-th layer are:

[0033] When i is an odd number:

[0034]

[0035]

[0036]

[0037] When i is an even number:

[0038]

[0039]

[0040]

[0041] Wherein: z is an unknown quantity, m is the number of tires stacked in an even layer, and m=n.

[0042] Preferably, assuming that the stacking coordinates of the tire e of the first layer are (x e ,z e ), the stacking coordinates of the tire f in the second layer are (x f ,z f ),

[0043] z f -z e = z,

[0044]

[0045] Let f(z f )=0, solve for z f .

[0046] Preferably, the number of tire layers is set to i, then the number of tires stacked in the transfer frame is P = n × i,

[0047]

[0048] Let f(i)<H, solve for i,

[0049] Where: H is the height of the transfer box.

[0050] In summary, the advantages of the present invention are as follows: through S1, the size information of the transfer frame and the tire is obtained respectively, S2 the size information is manually input and stored in the database, S3 the database is searched for the stacking information of the combination of the two, S4 the upper computer system calculates the stacking information in real time, S5 the robot system receives the stacking information and stacks the tires according to the coordinate information. Since the robot system can automatically stack the tires according to the coordinate information of the stacking information, the work intensity and labor cost of manual stacking of the operator are greatly reduced. Since in step S4, the upper computer system can calculate the stacking information in real time according to the size information of the transfer frame and the tire, it can be real-time according to the actual application occasion. The calculation of stacking information can adapt to different stacking requirements, and it can simulate the number of tires in a single transfer box, which is beneficial to warehouse logistics management. The first tire on the first layer is placed flat on the transfer box, thereby improving the stability of the overall stacking and providing a certain support function for the whole, thereby avoiding the shaking and tipping of the tires during the transfer process after stacking, which is beneficial to the transfer of the entire transfer box. The center point connection line of the tires after stacking is a diamond shape, which can increase the compactness of the tires after stacking, increase the space utilization rate of the entire transfer box, and greatly increase the number of tires stacked. Finally, the database can save the size information and stacking information in real time, which is convenient for the host computer system to retrieve and further improves the stacking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention will be further described below in conjunction with the accompanying drawings:

[0052] Figure 1 It is a structural block diagram of the present invention;

[0053] Figure 2 It is a schematic diagram of the structure of the tires after being stacked in the present invention;

[0054] Figure 3 It is a three-dimensional diagram of the tires after being stacked in the present invention.

[0055] Reference numerals:

[0056] 1 transfer frame, 2 tires. DETAILED DESCRIPTION

[0057] like Figure 1 , Figure 2 and Figure 3 As shown, a method for automatically cross-stacking tires includes a host computer system, a robot system, and a transfer frame 1 for stacking tires 2. The host computer system includes a database. The method includes the following steps in sequence:

[0058] S1: Get the size information of the transfer box and the tire respectively, and determine whether the size information is in the database. If the size information of both is in the database, go to S3; if the size information of both is not in the database, go to S2;

[0059] S2: Manually input the size information and store it in the database;

[0060] S3: Search the database for the stacking information of the combination of the two according to the size information obtained in S1. The stacking information includes the stacking coordinates and the stacking quantity. If the database has the stacking information of the combination of the two, then go to S5. If the database does not have the stacking information of the combination of the two, then go to S4.

[0061] S4: The upper computer system calculates the palletizing information in real time. In the palletizing information, the first tire of the first layer is placed flat on the transfer frame, and the center point connection line of the tires after stacking is a diamond shape. The palletizing information is stored in the database;

[0062] S5: The host computer system transmits the palletizing information in the database or the palletizing information calculated in S4 to the robot system. The robot system receives the palletizing information and stacks the tires according to the coordinate information.

[0063] Through S1, the size information of the transfer box and the tire is obtained respectively, S2 manually inputs the size information and stores it in the database, S3 searches for the combined stacking information of the two in the database, S4 the upper computer system calculates the stacking information in real time, S5 the robot system receives the stacking information and stacks the tires according to the coordinate information. Since the robot system can automatically stack the tires according to the coordinate information of the stacking information, the workload and labor cost of manual stacking of the operator are greatly reduced. Since in step S4, the upper computer system can calculate the stacking information in real time according to the size information of the transfer box and the tire, it can calculate the stacking information in real time according to the actual application scenario. Information can be used to adapt to different stacking needs, and it can simulate the number of tires in a single transfer frame, which is beneficial to warehouse logistics management. In addition, the first tire on the first layer is placed flat on the transfer frame, thereby improving the stability of the overall stacking and providing a certain support function for the whole, thereby avoiding the shaking and tipping of the tires during transportation after stacking, which is beneficial to the transportation of the entire transfer frame. In addition, the center point connection line of the tires after stacking is a diamond shape, which can increase the compactness of the tires after stacking, increase the space utilization rate of the entire transfer frame, and greatly increase the number of tires stacked. Finally, the database can save the size information and stacking information in real time, which is convenient for the host computer system to retrieve and further improves the stacking efficiency.

[0064] The size information of the transfer box in step S1 includes the length of the transfer box, the width of the transfer box and the height of the transfer box. The size information of the tire in step S1 includes the outer diameter of the tire, the inner diameter of the tire, the width of the tire and the rim width, and the stacking information of the tire can be accurately calculated. The transfer box and the tire are both provided with a QR code, and the size information of the transfer box and the tire is obtained by scanning the QR code respectively, so that the size information of the transfer box and the tire can be quickly obtained. The host computer system also includes an alarm. When there is no size information in the database in step S1, an alarm prompt is issued to the operator through the alarm. When there is no size information in the database, the alarm can promptly issue an alarm message to the operator, so that the operator can promptly obtain whether the size information is in the database.

[0065] The stacking coordinates and stacking quantity in step S4 are calculated according to the tire stacking angle α. Assuming that the stacking number of tires in an odd layer is n, the tire stacking angle α is calculated according to the following formula:

[0066]

[0067] Where: a is the outer diameter of the tire, b is the width of the tire, d is the inner diameter of the tire, and L is the length of the transfer frame.

[0068] Let f(α)=0 and solve for the value of α.

[0069] The stacking coordinates of the first layer of tires are:

[0070]

[0071]

[0072]

[0073]

[0074] The stacking coordinates of the second layer of tires are:

[0075]

[0076]

[0077]

[0078]

[0079] The stacking coordinates of the tires in the i-th layer are:

[0080] When i is an odd number:

[0081]

[0082]

[0083]

[0084] When i is an even number:

[0085]

[0086]

[0087]

[0088] Wherein: z is an unknown quantity, m is the number of tires stacked in an even layer, and m=n.

[0089] Assume that the stacking coordinates of the tire e in the first layer are (x e ,z e ), the stacking coordinates of the tire f in the second layer are (x f ,z f ), according to the above formula:

[0090] z f -z e = z,

[0091]

[0092] By f(z f)=0, solve for z f , due to z f -z e =z, therefore, the z value can be calculated.

[0093] Or, in actual palletizing calculation, the compensation amount Q can be tested according to the tire material experiment, and f(z f )=Q, solve for z f .

[0094] Assuming the number of tire layers is i, the number of tires stacked in the transfer frame is P = n × i, and f(i) < H.

[0095]

[0096] Where: H is the height of the transfer box.

[0097] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in the field of the present invention are included in the patent scope of the present invention.

Claims

1. A method for automatically cross-stacking tires, comprising a host computer system, a robot system and a transfer frame for stacking tires, wherein the host computer system comprises a database, Features: The method comprises the following steps in sequence: S1: Get the size information of the transfer box and the tire respectively, and determine whether the size information is in the database. If the size information of both is in the database, go to S3; if the size information of both is not in the database, go to S2; S2: Manually input the size information and store it in the database; S3: Search the database for the stacking information of the combination of the two according to the size information obtained in S1. The stacking information includes the stacking coordinates and the stacking quantity. If the database has the stacking information of the combination of the two, then go to S5. If the database does not have the stacking information of the combination of the two, then go to S4. S4: The upper computer system calculates the palletizing information in real time. In the palletizing information, the first tire of the first layer is placed flat on the transfer frame, and the center point connection line of the tires after stacking is a diamond shape. The palletizing information is stored in the database; the stacking coordinates and the stacking quantity are calculated according to the tire stacking angle α. Assuming that the number of tires stacked in an odd layer is n, the tire stacking angle α is calculated according to the following formula: Where: a is the outer diameter of the tire, b is the width of the tire, L is the length of the transfer frame, Let f(α) = 0 and solve for α; S5: The host computer system transmits the palletizing information in the database or the palletizing information calculated in S4 to the robot system. The robot system receives the palletizing information and stacks the tires according to the coordinate information.

2. A method for automatically cross stacking tires according to claim 1, Features: The size information of the transfer box in step S1 includes the length, width and height of the transfer box, and the size information of the tire in step S1 includes the outer diameter, inner diameter, width and rim width of the tire.

3. A method for automatically cross stacking tires according to claim 2, Features: The transfer frame and the tire are both provided with a QR code, and the size information of the transfer frame and the tire can be obtained by scanning the QR code respectively.

4. The method for automatically cross stacking tires according to claim 1, Features: The host computer system also includes an alarm, which sends an alarm prompt to the operator when there is no size information in the database in step S1.

5. The method for automatically cross stacking tires according to claim 1, Features: The stacking coordinates of the first layer of tires are: The stacking coordinates of the second layer of tires are: The stacking coordinates of the tires in the i-th layer are: When i is an odd number: When i is an even number: Wherein: z is an unknown quantity, m is the number of tires stacked in an even layer, and m=n.

6. A method for automatically cross stacking tires according to claim 5, Features: Assume that the stacking coordinates of the tire e in the first layer are (x e, z e ), the stacking coordinates of the tire f in the second layer are (x f, z f ), z f -z e = z, Let f(z f )=0, solve for z f .

7. A method for automatically cross stacking tires according to claim 4, Features: Assuming the number of tire layers is i, the number of tires stacked in the transfer box is P = n × i. Let f(i)<H, solve for i, Where: H is the height of the transfer box.

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