A spare tire automatic throwing device and method suitable for multiple vehicle models

Abstract

The application relates to a spare tire automatic feeding device and method suitable for multiple vehicle models, which comprises a vehicle identification industrial computer, a spare tire line body, a spare tire robot gripper and a control cabinet. The vehicle identification industrial computer is used for identifying the vehicle model information of a current vehicle. The spare tire line body is installed with a positioning distance measuring mechanism, the spare tire line body is used for conveying a spare tire, the positioning distance measuring mechanism is used for clamping and positioning the spare tire line body spare tire and detecting the diameter of the spare tire. The spare tire robot gripper is used for grabbing and feeding the spare tire. The control cabinet is in signal connection with the vehicle identification industrial computer, the spare tire line body, the spare tire robot gripper and the positioning distance measuring mechanism. When the diameter of the spare tire detected by the positioning distance measuring mechanism matches the vehicle model of the current vehicle, the control cabinet controls the spare tire robot gripper to grab the spare tire and feed the spare tire into the current vehicle. The automatic feeding work of the spare tire of different vehicle models is completed, the purpose of few people is achieved, and the work efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle assembly, and in particular to an automatic spare tire delivery device and method applicable to multiple vehicle models. Background Technology

[0002] With the continuous development and innovation of automation technology, automobile assembly processes are gradually shifting from traditional manual assembly to high-efficiency, high-quality automated assembly. The same applies to spare tire assembly during automobile tire assembly.

[0003] In related technologies, manual handling is used to deploy spare tires. This method mainly involves manual verification of vehicle and spare tire information, followed by manual handling to grab the spare tire and place it in the vehicle's trunk. Alternatively, manual deployment using a robotic arm requires 0.5 people per vehicle, and manual verification of spare tire and vehicle information is also required. Automated deployment using a robotic arm at a stationary workstation requires a stationary workstation on the main line. The stationary workstation involves rapid entry and exit, resulting in some waste of production line workstations, with a normal loss of 2 workstations. Summary of the Invention

[0004] This invention provides an automatic spare tire delivery device and method applicable to multiple vehicle models, addressing the problems of manual handling and delivery of spare tires in related technologies, which cause severe damage to the lumbar muscles, have low work efficiency, and are detrimental to production.

[0005] Firstly, an automatic spare tire dispensing device applicable to multiple vehicle models is provided, comprising:

[0006] The vehicle identification industrial control computer is used to identify the vehicle model information of the current vehicle.

[0007] The spare tire production line is equipped with a positioning and ranging mechanism. The spare tire production line is used to transport a spare tire. The positioning and ranging mechanism is used to clamp and position the spare tire on the spare tire production line and to detect the diameter of the spare tire.

[0008] A spare tire robot gripper, which is used to grasp and deploy a spare tire;

[0009] The control cabinet is signal-connected to the vehicle identification industrial control computer, the spare tire production line, the spare tire robot gripper, and the positioning and ranging mechanism.

[0010] The control cabinet is used to control the spare tire robot gripper to grab the spare tire and place it into the current vehicle when the diameter of the spare tire detected by the positioning and ranging mechanism matches the model of the current vehicle.

[0011] In some embodiments, the positioning and ranging mechanism includes:

[0012] A first drive unit is connected to the control cabinet via a signal. The first drive unit is installed on the spare tire line and connected to two clamping and positioning arms. The two clamping and positioning arms are spaced apart along the width direction of the spare tire line, and each clamping and positioning arm is rotatably connected to at least two first positioning wheels.

[0013] The first driving member can drive the two clamping and positioning arms to move closer to each other along the width direction of the spare tire line, so that the four first positioning wheels clamp and position the spare tire.

[0014] A ranging sensor connected to the control cabinet via a signal, the ranging sensor being installed between the two clamping and positioning arms;

[0015] The control cabinet is also used to control the ranging sensor to monitor the distance between the two clamping and positioning arms, and to determine the diameter of the spare tire for clamping and positioning based on the distance between the two clamping and positioning arms.

[0016] In some embodiments, the spare tire line is equipped with a blocking mechanism, which is signal-connected to the control cabinet and located behind the positioning and ranging mechanism along the conveying direction of the spare tire line.

[0017] The control cabinet is used to control the blocking mechanism to prevent the spare tire from entering the positioning and ranging mechanism.

[0018] In some embodiments, the blocking mechanism includes:

[0019] A second drive unit is connected to the control cabinet via a signal. The second drive unit is disposed on the spare tire line. The second drive unit is connected to two V-shaped blocking arms. The openings of the two blocking arms are arranged opposite each other, and each blocking arm is rotatably connected to a second positioning wheel at both ends.

[0020] A linkage mechanism connecting the two blocking arms;

[0021] The second driving member can drive the two blocking arms to move closer to each other along the width direction of the spare tire line, so that the four second positioning wheels clamp and position the spare tire.

[0022] In some embodiments, the spare tire robot gripper includes:

[0023] A multi-degree-of-freedom robotic arm, wherein a connecting arm is fixed to the end of the multi-degree-of-freedom robotic arm, and a spare tire gripper is fixed to the connecting arm. The spare tire gripper has at least three grippers, and the three grippers can move along the same plane and move closer or further away from each other toward the same center.

[0024] A laser sensor, which is fixed to the side of the connecting arm facing the spare tire;

[0025] The multi-degree-of-freedom robotic arm, spare tire gripper, and laser sensor are connected to the control cabinet via signal.

[0026] The control cabinet is used to control the spare tire gripper to pick up the spare tire, and also to control the laser sensor to detect the height information of the spare tire rim surface to confirm the spare tire model.

[0027] In some embodiments, when the spare tire gripper completes to grasp the spare tire, the control cabinet is used to detect the diameter of the spare tire based on the moving distance between the gripper and the center to confirm the spare tire model.

[0028] In some embodiments, the spare tire robot gripper further includes:

[0029] A vision camera is connected to the control cabinet via a signal. The vision camera is mounted on the connecting arm. The control cabinet is used to control the vision camera to detect whether the tailgate of the current vehicle is open and to perform a safety check on the tailgate.

[0030] A tailgate closing mechanism is mounted on the connecting arm and is used to close the tailgate of the current vehicle.

[0031] In some embodiments, the tailgate closing mechanism includes:

[0032] Two connecting rods, one end of which is fixed to the connecting arm, and the other end of which is rotatably connected to a roller;

[0033] When the connecting arm moves down, the connecting arm can drive the roller to move down to contact the tailgate of the current vehicle and close the tailgate of the current vehicle.

[0034] In some embodiments, the automatic spare tire deployment device further includes:

[0035] The translation component is connected to the control cabinet via a signal. The spare tire robot gripper is mounted on the translation component. The control cabinet is used to control the translation component to drive the spare tire robot gripper to move along the vehicle's travel direction.

[0036] In some embodiments, the automatic spare tire deployment device further includes:

[0037] A speed measuring device is connected to the control cabinet via a signal. The control cabinet is used to measure the current vehicle speed based on the speed measuring device and control the translation component to drive the spare tire robot gripper to move synchronously with the current vehicle.

[0038] In some embodiments, the speed measuring device includes:

[0039] The slide rail has a length direction that is consistent with the length direction of the translation component, and the slide rail is slidably connected to a lifting device synchronization mechanism;

[0040] A timing belt, the length direction of which is consistent with the length direction of the slide rail, is installed on the slide rail, and the timing belt is fixed to the lifting device synchronization mechanism;

[0041] A speed encoder that is connected to the control cabinet via signals, wherein the input end of the speed encoder is fitted into one end of the synchronous belt;

[0042] The motor is connected to the control cabinet via a signal, and the output end of the motor is inserted into the other end of the synchronous belt, so that the motor can drive the synchronous belt to rotate.

[0043] In some embodiments, the spreader synchronization mechanism includes:

[0044] A slide block, which is slidably connected to the slide rail and fixed to the timing belt;

[0045] A synchronous contact mechanism for the lifting device, wherein the synchronous contact mechanism for the lifting device is fixed to the slide block;

[0046] When the synchronous contact mechanism of the lifting device comes into contact with the lifting device, the synchronous contact mechanism of the lifting device moves synchronously under the thrust of the lifting device, so that the slide and the lifting device move synchronously.

[0047] In some embodiments, the synchronous contact mechanism of the spreader includes:

[0048] A third driving component is connected to the control cabinet via a signal. The third driving component is mounted on the slide and is connected to a baffle. The third driving component can drive the baffle to approach or move away from the lifting device.

[0049] When the lifting device comes into contact with the baffle, the baffle moves synchronously under the thrust of the lifting device, causing the slide to move synchronously with the lifting device.

[0050] In some embodiments, the spreader synchronization mechanism further includes:

[0051] A synchronous lifting mechanism for the lifting device is signal-connected to the control cabinet, and the synchronous lifting mechanism for the lifting device is fixed to the slide block;

[0052] The control cabinet is used to control the synchronous lifting mechanism of the lifting device to lift and abut against the bottom of the lifting device when the synchronous contact mechanism of the lifting device comes into contact with the lifting device, so that there is no relative displacement between the slide and the lifting device.

[0053] In some embodiments, the synchronous lifting mechanism for the spreader includes:

[0054] A fourth drive unit is connected to the control cabinet via a signal. The fourth drive unit is mounted on the slide and connected to a top plate. The fourth drive unit can drive the top plate to move upward and limit the lifting device, so that there is no relative displacement between the slide and the lifting device.

[0055] In some embodiments, the control cabinet has an upstream vehicle model sequence database. The control cabinet is used to control the spare tire robot gripper to grab the spare tire and place it into the current vehicle when the vehicle identification industrial control computer identifies the current vehicle model information via RFID and matches the data in the upstream vehicle model sequence database.

[0056] Secondly, a method for automatically deploying spare tires applicable to multiple vehicle models is provided, which includes the following steps:

[0057] The vehicle identification system uses an industrial control computer to identify the current vehicle model information.

[0058] The spare tire being transported by the spare tire line is clamped and positioned using a positioning and ranging mechanism, and the diameter of the spare tire is detected.

[0059] Determine whether the diameter of the spare tire detected by the positioning and ranging mechanism matches the current vehicle model;

[0060] If so, control the spare tire robot gripper to grab the spare tire and place it into the current vehicle.

[0061] In some embodiments, if so, controlling the spare tire robot gripper to grab the spare tire and place it into the current vehicle includes:

[0062] If so, control the spare tire robot gripper to grab the spare tire;

[0063] The spare tire robot gripper on the translation component is controlled to move synchronously with the vehicle by measuring the current vehicle speed using a speed measuring device.

[0064] The robot gripper will grab the matching spare tire and place it into the current vehicle.

[0065] In some embodiments, before the control of the spare tire robotic gripper to grab a matching spare tire and place it into the current vehicle, the following steps are included:

[0066] The visual camera on the spare tire robot gripper detects whether the tailgate of the current vehicle is open and performs a safety check on the rear trunk.

[0067] When the visual camera detects that the tailgate of the current vehicle is open and the trunk is safe, the spare tire robot gripper will grab the matching spare tire and place it into the current vehicle.

[0068] In some embodiments, after the visual camera detects that the tailgate of the current vehicle is open and the trunk is safe, the step of controlling the spare tire robot gripper to grab the matching spare tire and place it into the current vehicle includes:

[0069] Control the spare tire robot gripper so that the tailgate closing mechanism on the spare tire robot gripper closes the tailgate of the current vehicle;

[0070] The control translation component returns the spare tire robot gripper to the starting point, ready for the next round of spare tire deployment.

[0071] The beneficial effects of the technical solution provided by this invention include: the vehicle identification industrial control computer can identify the model information of the current vehicle; the positioning and ranging mechanism can clamp and position the spare tire on the spare tire line; when the diameter of the spare tire detected by the positioning and ranging mechanism matches the model of the current vehicle, the control cabinet can control the spare tire robot gripper to grab the spare tire and place it into the current vehicle, thus completing the automatic placement of spare tires for different vehicle models, achieving the goal of reducing manpower, improving the efficiency of spare tire placement, realizing fully automated placement, and improving production safety. Attached Figure Description

[0072] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0073] Figure 1 This is a top view of the automatic spare tire delivery device provided in an embodiment of the present invention.

[0074] Figure 2 This is a top view of the positioning and ranging mechanism provided in an embodiment of the present invention;

[0075] Figure 3 This is a top view of the blocking mechanism provided in an embodiment of the present invention;

[0076] Figure 4 A three-dimensional structural schematic diagram of the connecting arm provided in an embodiment of the present invention;

[0077] Figure 5 This is a three-dimensional structural diagram of the speed measuring device provided in an embodiment of the present invention;

[0078] Figure 6 This is a three-dimensional structural diagram of the lifting device synchronization mechanism provided in an embodiment of the present invention.

[0079] In the diagram: 1. Vehicle-to-everything (V2X) industrial control computer; 2. Spare tire production line; 3. Spare tire robot gripper; 31. Multi-DOF robotic arm; 32. Connecting arm; 33. Spare tire gripper; 331. Gripper; 34. Vision camera; 35. Tailgate closing mechanism; 351. Connecting rod; 352. Roller; 4. Positioning and ranging mechanism; 41. First driving component; 42. Clamping and positioning arm; 43. First positioning wheel; 5. Blocking mechanism; 51. Second driving component; 52. Blocking arm; 53. 54. Second positioning wheel; 6. Linkage mechanism; 7. Translation component; 8. Speed ​​measuring device; 9. Slide rail; 10. Lifting device synchronization mechanism; 11. Slide block; 12. Lifting device synchronization contact mechanism; 13. Third drive component; 14. Baffle; 15. Lifting device synchronization lifting mechanism; 16. Fourth drive component; 17. Top plate; 18. Synchronous belt; 19. Speed ​​encoder; 20. Motor; 21. NG platform; 22. Safety railing; 23. Control cabinet. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0081] This invention provides an automatic spare tire delivery device and method applicable to multiple vehicle models, addressing the problems of manual handling and delivery of spare tires in related technologies, which cause severe damage to the lumbar muscles, have low work efficiency, and are detrimental to production.

[0082] like Figure 1 As shown, this embodiment of the invention provides an automatic spare tire delivery device applicable to multiple vehicle models, which may include: a vehicle identification industrial control computer 1, which is used to identify the vehicle model information of the current vehicle; a spare tire line 2, which is equipped with a positioning and ranging mechanism 4, which is used to transport the spare tire, and the positioning and ranging mechanism 4 is used to clamp and position the spare tire on the spare tire line 2 and detect the diameter of the spare tire; a spare tire robot gripper 3, which is used to grasp and deliver the spare tire; and a control cabinet 10, which is signal-connected to the vehicle identification industrial control computer 1, the spare tire line 2, the spare tire robot gripper 3, and the positioning and ranging mechanism 4; the control cabinet 10 is used to control the spare tire robot gripper 3 to grasp the spare tire and deliver it into the current vehicle when the diameter of the spare tire detected by the positioning and ranging mechanism 4 matches the vehicle model of the current vehicle.

[0083] The spare tire line 2 can be equipped with a positioning and ranging mechanism 4 at its end. This mechanism 4 can clamp and limit the approaching spare tire and detect the diameter of the clamped spare tire to confirm its information. The control cabinet 10 can use the vehicle identification industrial computer 1 to identify the vehicle model information and determine whether the clamped spare tire meets the requirements of the vehicle model. If it does, the control cabinet 10 can control the spare tire robot gripper 3 to pick up the spare tire and place it into the vehicle. Alternatively, if the clamped spare tire does not meet the requirements of the vehicle model, the control cabinet 10 can control the positioning and ranging mechanism 4 to stop clamping and limiting the spare tire, allowing it to continue being transported along the spare tire line 2 for the next transport cycle (i.e., a closed-loop transport line 2). Or, the control cabinet 10 can control the spare tire robot gripper 3 to remove the spare tire that does not meet the requirements of the vehicle model from the spare tire line 2.

[0084] The vehicle identification system can identify the vehicle model information of the industrial control computer 1. The positioning and ranging mechanism 4 can clamp and position the spare tire on the spare tire line 2. When the positioning and ranging mechanism 4 detects that the diameter of the spare tire matches the model of the current vehicle, the control cabinet 10 controls the spare tire robot 3 to grab the spare tire and place it into the current vehicle. This completes the automatic placement of spare tires for different vehicle models, achieving the goal of reducing manpower, improving the efficiency of spare tire placement, realizing fully automated placement, and improving production safety.

[0085] In some embodiments, such as Figure 1 and Figure 2 As shown, the positioning and ranging mechanism 4 may include: a first drive unit 41 connected to the control cabinet 10 by a signal; the first drive unit 41 is installed on the spare tire line 2 and connected to two clamping and positioning arms 42; the two clamping and positioning arms 42 are spaced apart along the width direction of the spare tire line 2, and each clamping and positioning arm 42 is rotatably connected to at least two first positioning wheels 43; the first drive unit 41 can drive the two clamping and positioning arms 42 to move closer to each other along the width direction of the spare tire line 2, so that the four first positioning wheels 43 clamp and position the spare tire; a ranging sensor connected to the control cabinet 10 by a signal; the ranging sensor is installed between the two clamping and positioning arms 42; the control cabinet 10 is also used to control the ranging sensor to monitor the distance between the two clamping and positioning arms 42, and to determine the diameter of the clamped and positioned spare tire based on the distance between the two clamping and positioning arms 42.

[0086] The first driving component 41 can be two driving cylinders (pneumatic or hydraulic), each fixed to a clamping and positioning arm 42. The two driving cylinders can drive the two clamping and positioning arms 42 to move closer together to clamp and position the spare tire, or drive them to move away from each other to release their restriction on the spare tire. Four first positioning wheels 43 can be tangentially positioned against the sidewall of the spare tire to improve the clamping and positioning effect. A distance sensor can be installed between the two clamping and positioning arms 42. When the two clamping and positioning arms 42 move closer together to clamp and position the spare tire, the distance sensor can detect the distance between the two clamping and positioning arms 42 to determine the diameter parameter of the spare tire, thus confirming the spare tire information. The distance sensor can be a laser sensor with two emitting ends, each emitting end facing the sidewall of one clamping and positioning arm 42. The sum of the distance parameters detected by the two emitting ends to the corresponding clamping and positioning arms 42 is the diameter parameter of the spare tire.

[0087] In some embodiments, such as Figure 1 As shown, the spare tire line 2 is equipped with a blocking mechanism 5, which is signal-connected to the control cabinet 10. Along the conveying direction of the spare tire line 2, the blocking mechanism 5 is located behind the positioning and ranging mechanism 4. The control cabinet 10 is used to control the blocking mechanism 5 to prevent the spare tire from entering the positioning and ranging mechanism 4.

[0088] The blocking mechanism 5 can be installed on the left side of the positioning and ranging mechanism 4. When the positioning and ranging mechanism 4 clamps and limits the spare tire at the end, the blocking mechanism 5 will block the spare tire behind it to prevent the spare tire behind it from entering the positioning and ranging mechanism 4 and affecting the clamping effect of the positioning and ranging mechanism 4 on the spare tire inside.

[0089] Furthermore, such as Figure 1 and Figure 3 As shown, the blocking mechanism 5 may include: a second driving member 51 connected to the control cabinet 10, the second driving member 51 being disposed on the spare tire line 2, the second driving member 51 being connected to two V-shaped blocking arms 52, the openings of the two blocking arms 52 being arranged opposite each other, and each blocking arm 52 having a second positioning wheel 53 rotatably connected to both ends; a linkage mechanism 54, the linkage mechanism 54 being connected between the two blocking arms 52; the second driving member 51 can drive the two blocking arms 52 to move closer to each other along the width direction of the spare tire line 2, so that the four second positioning wheels 53 clamp and position the spare tire.

[0090] The second driving component 51 can be a driving cylinder (pneumatic cylinder or hydraulic cylinder). The driving cylinder is connected to the upper blocking arm 52. When the driving cylinder retracts, it pulls the blocking arm 52 connected to it to move downward. Meanwhile, the lower blocking arm 52 moves upward under the transmission of the linkage mechanism 54. This allows the two blocking arms 52 to move closer to each other along the width direction of the spare tire line 2, centering and aligning the spare tire inside, preventing it from affecting the spare tire clamping and positioning work at the end. At the same time, after the two blocking arms 52 center and align the spare tire, it also ensures the smooth operation of the spare tire clamping and positioning at the end.

[0091] For example, the linkage mechanism 54 may include two racks, a gear, and a mounting plate. The two racks are arranged in parallel and slidably mounted on the mounting plate. The gear is located between the two racks and rotatably mounted on the mounting plate. Each rack is connected to a stop arm 52. When the drive cylinder pulls the stop arm 52 directly connected to it, the other stop arm 52 can move synchronously and in the opposite direction through the limiting cooperation of the racks, gear, and mounting plate. Of course, the linkage mechanism 54 can also be a crank-rocker mechanism. The crank-rocker mechanism has two parallel rockers connected to the same disk. The disk is rotatably connected to the mounting plate, and each rocker is connected to a stop arm 52.

[0092] In some embodiments, such as Figure 1 and Figure 4 As shown, the spare tire robot gripper 3 may include: a multi-degree-of-freedom robotic arm 31, with a connecting arm 32 fixed to the end of the multi-degree-of-freedom robotic arm 31, and a spare tire gripper 33 fixed to the connecting arm 32. The spare tire gripper 33 has at least three grippers 331, which can move along the same plane and move closer or further away from each other towards the same center; a laser sensor, which is fixed to the side of the connecting arm 32 facing the spare tire; the multi-degree-of-freedom robotic arm 31, the spare tire gripper 33, and the laser sensor are connected to the control cabinet 10 via signal. The control cabinet 10 is used to control the spare tire gripper 33 to grasp the spare tire and also to control the laser sensor to detect the height information of the spare tire rim surface to confirm the spare tire model.

[0093] Among them, the spare tire robot gripper 3 can be an R-2000iC / 165F model robot. The R-2000iC / 165F model robot can flexibly control the multi-degree-of-freedom movement of the end-connected connecting arm 32, realize the direction of the spare tire gripper 33 moving to the positioning and ranging mechanism 4, and control the spare tire gripper 33 to grasp the spare tire that is clamped and positioned by the positioning and ranging mechanism 4. After the grasping action is completed, the control cabinet 10 can also use a laser sensor to collect the height information of the rim surface of the spare tire to improve the accuracy of the spare tire signal confirmation, so as to ensure the reliability of the entire spare tire deployment operation.

[0094] Furthermore, when the spare tire gripper 33 completes the gripping of the spare tire, the control cabinet 10 detects the spare tire diameter based on the movement distance between the gripper 331 and the center to confirm the spare tire model. The control cabinet 10 can also perform a secondary detection of the spare tire diameter. If the difference between the two diameter detections is within a certain range, the spare tire diameter can be determined to confirm the spare tire model information, serving as a protective measure and further improving the reliability of the spare tire model information confirmation. When the error exceeds a certain range, the control cabinet 10 can issue an alarm signal, enabling manual downgrade processing.

[0095] In some embodiments, such as Figure 4 As shown, the spare tire robot gripper 3 may further include: a vision camera 34 connected to the control cabinet 10, the vision camera 34 being mounted on the connecting arm 32, and the control cabinet 10 controlling the vision camera 34 to detect whether the current vehicle's tailgate is open and to perform a safety check on the rear trunk; and a tailgate closing mechanism 35, mounted on the connecting arm 32, used to close the current vehicle's tailgate. The vision camera 34 can detect whether the current vehicle's tailgate is open and whether the rear trunk meets the placement requirements, preventing the presence of other items that could affect the spare tire placement. When the current vehicle's tailgate is not open or the rear trunk does not meet the placement requirements, the control cabinet 10 can issue an alarm signal, enabling manual downgrade processing. After the spare tire placement is completed, the tailgate closing mechanism 35 can automatically close the current vehicle's tailgate.

[0096] Furthermore, the tailgate closing mechanism 35 may include two connecting rods 351, one end of which is fixed to the connecting arm 32, and the other end of which is rotatably connected to a roller 352. When the connecting arm 32 moves downward, it drives the roller 352 to move downward and contact the current vehicle tailgate, thus closing the tailgate. During the downward movement of the connecting arm 32, the roller 352 presses down on the raised tailgate and slides downward, closing the tailgate. This sliding motion avoids damage to the tailgate.

[0097] Furthermore, roller 352 can be made of flexible materials, such as rubber, to avoid scratching the vehicle's tailgate.

[0098] In some embodiments, such as Figure 1 As shown, the automatic spare tire delivery device may further include: a translation component 6 connected to the control cabinet 10 by a signal, the spare tire robot gripper 3 being installed on the translation component 6, and the control cabinet 10 being used to control the translation component 6 to drive the spare tire robot gripper 3 to move along the vehicle's travel direction.

[0099] The translation component 6 can be a seventh axis, which includes a beam, a retarder, gears, etc., enabling the spare tire robot gripper 3 to move left and right on the seventh axis. This allows the spare tire robot gripper 3 to move along the vehicle's travel direction and place the gripped spare tire into the current vehicle.

[0100] In some embodiments, such as Figure 1 As shown, the automatic spare tire delivery device may further include: a speed measuring device 7 connected to the control cabinet 10 via a signal. The control cabinet 10 is used to control the translation component 6 to drive the spare tire robot gripper 3 to move synchronously with the current vehicle based on the speed measuring device 7 measuring the current vehicle speed.

[0101] Among them, such as Figure 1 As shown, the X-axis represents the position and direction of the vehicles on the assembly line. The speed measuring device 7 can measure the current vehicle speed. Based on the speed measured by the speed measuring device 7, the control cabinet 10 controls the translation component 6 to move, driving the spare tire robot gripper 3 to move synchronously with the current vehicle. This allows the spare tire robot gripper 3 to move synchronously with the vehicles on the assembly line, facilitating the placement of the gripped spare tire into the current vehicle.

[0102] Furthermore, such as Figure 5 As shown, the speed measuring device 7 may include: a slide rail 71, the length direction of which is consistent with the length direction of the translation component 6, and a lifting device synchronization mechanism 72 slidably connected to the slide rail 71; a synchronous belt 73, the length direction of which is consistent with the length direction of the slide rail 71 and is installed on the slide rail 71, and the synchronous belt 73 is fixed to the lifting device synchronization mechanism 72; a speed encoder 74 connected to the control cabinet 10 by signal, the input end of the speed encoder 74 being fitted into one end of the synchronous belt 73; and a motor 75 connected to the control cabinet 10 by signal, the output end of the motor 75 being fitted into the other end of the synchronous belt 73, and the motor 75 being able to drive the synchronous belt 73 to rotate.

[0103] The lifting device synchronization mechanism 72 can move synchronously with the lifting device of the current vehicle on the assembly line. The lifting device synchronization mechanism 72 will drive the synchronous belt 73 to rotate synchronously. The rotation of the synchronous belt 73 can be detected by the speed encoder 74 to determine the speed of the current vehicle on the assembly line. At this time, the control cabinet 10 can control the translation component 6 to drive the spare tire robot gripper 3 to move synchronously with the current vehicle based on the moving speed of the current lifting device synchronization mechanism 72. After the current vehicle is deployed, the control cabinet 10 can control the motor 75 to work, drive the synchronous belt 73 to reverse, and return the lifting device synchronization mechanism 72 to the starting point to wait for synchronous movement with the lifting device of the next vehicle.

[0104] Furthermore, the lifting device synchronization mechanism 72 may include: a slide block 721, which is slidably connected to the slide rail 71 and fixed to the synchronization belt 73; and a lifting device synchronization contact mechanism 722, which is fixed to the slide block 721. When the lifting device synchronization contact mechanism 722 contacts the lifting device, the lifting device synchronization contact mechanism 722 moves synchronously under the thrust of the lifting device, so that the slide block 721 moves synchronously with the lifting device.

[0105] When the spreader moves to a point where it contacts the spreader synchronously, as the spreader continues to move, it will push the spreader synchronous contact mechanism 722 to move synchronously, so that the slide 721 moves synchronously with the spreader. The movement of the slide 721 will drive the synchronous belt 73 to rotate synchronously, thereby realizing the speed measurement of the spreader and ensuring that the translation component 6 drives the spare tire robot gripper 3 to move synchronously with the current vehicle.

[0106] Specifically, such as Figure 6 As shown, the synchronous contact mechanism 722 of the lifting device may include: a third drive component 7221 that is signal-connected to the control cabinet 10. The third drive component 7221 is mounted on the slide 721. The third drive component 7221 is connected to a baffle 7222. The third drive component 7221 can drive the baffle 7222 to approach or move away from the lifting device. When the lifting device contacts the baffle 7222, the baffle 7222 moves synchronously under the thrust of the lifting device, so that the slide 721 moves synchronously with the lifting device.

[0107] The third driving component 7221 can be a driving cylinder (pneumatic cylinder or hydraulic cylinder). The third driving component 7221 can drive the baffle 7222 to be in a vertical state. When the spreader moves to abut against the baffle 7222, as the spreader continues to move, it will push the baffle 7222 to move synchronously, realizing the subsequent movement test work. After the spare tire is deployed, the driving cylinder can drive the baffle 7222 to flip over, releasing the limit between it and the spreader. During the subsequent movement, the spreader moves out of the spreader synchronization mechanism 72. As the motor 75 drives the baffle 7222 back to the starting point, it waits for the spreader of the next vehicle to contact the limit of the spreader of the next vehicle, realizing the speed measurement work of the spreader of the next vehicle.

[0108] Furthermore, such as Figure 6 As shown, the lifting device synchronization mechanism 72 further includes a lifting device synchronization lifting mechanism 723 that is signal-connected to the control cabinet 10. The lifting device synchronization lifting mechanism 723 is fixed to the slide 721. The control cabinet 10 is used to control the lifting device synchronization lifting mechanism 723 to lift and abut against the bottom of the lifting device when the lifting device synchronization contact mechanism 722 contacts the lifting device, so that there is no relative displacement between the slide 721 and the lifting device.

[0109] The synchronous lifting mechanism 723 can lift the device and abut against the bottom of the device, so that the slide block 721 and the device have no relative displacement. This improves the speed measurement accuracy of the synchronous mechanism 72 and ensures that the spare tire robot gripper 3 moves synchronously with the current vehicle to the greatest extent, thereby ensuring the smooth deployment of the spare tire.

[0110] Specifically, such as Figure 6 As shown, the synchronous lifting mechanism 723 of the lifting device may include: a fourth driving component 7231 that is signal-connected to the control cabinet 10. The fourth driving component 7231 is installed on the slide 721. The fourth driving component 7231 is connected to a top plate 7232. The fourth driving component 7231 can drive the top plate 7232 to move upward and limit the lifting device, so that there is no relative displacement between the slide 721 and the lifting device.

[0111] The fourth driving component 7231 can be a driving cylinder (pneumatic or hydraulic). This cylinder drives the top plate 7232 upwards to limit the movement of the lifting device, ensuring no relative displacement between the slide block 721 and the lifting device. This guarantees that the slide block 721 moves synchronously with the lifting device, thus ensuring the speed measurement accuracy of the speed encoder 74. This also ensures that the spare tire robot gripper 3 moves synchronously with the current vehicle to the greatest extent possible, thereby guaranteeing the smooth deployment of the spare tire.

[0112] In some embodiments, the control cabinet 10 has an upstream vehicle model sequence database. The control cabinet 10 is used to control the spare tire robot gripper 3 to grab the spare tire and place it into the current vehicle when the vehicle identification industrial control computer 1 identifies the current vehicle model information by RFID and matches the data in the upstream vehicle model sequence database.

[0113] Radio Frequency Identification (RFID) is a type of automatic identification technology that uses wireless radio frequency for non-contact two-way data communication. It reads and writes records (electronic tags or RFID cards) using wireless radio frequency to achieve the purpose of identifying targets and exchanging data.

[0114] Specifically, the control cabinet 10 has vehicle model sequences of multiple vehicles on the upstream production line. The vehicle model sequences of multiple vehicles can be arranged in a fixed order (i.e., the vehicle model sequence of each vehicle is known) or they can be arranged randomly (i.e., the vehicle model sequences of multiple vehicles are stored in the database of the control cabinet 10). When the vehicle identification industrial control computer 1 identifies the current vehicle model information via RFID and it does not match the data in the upstream vehicle model sequence database, the control cabinet 10 issues an alarm signal to enable manual downgrade intervention management.

[0115] In some embodiments, such as Figure 1As shown, the automatic spare tire delivery device may further include: a safety barrier 9, front and rear safety mats, and a safety lock. The safety barrier 9 is used to isolate the working area of ​​the spare tire robot gripper 3, the safety mats are used for personnel to enter and exit the spare tire robot gripper 3, and the safety lock ensures the safety of the safety door during working hours.

[0116] The automatic spare tire delivery device may further include an NG platform 8, which is mainly composed of roller conveyors. When the spare tire is identified as not matching the current vehicle model information, the spare tire robot gripper 3 can be controlled to grab the spare tire and deliver it to the NG platform 8, thus removing the mismatched spare tire.

[0117] In some embodiments, this invention provides an automatic spare tire deployment method applicable to multiple vehicle models, comprising the following steps:

[0118] Step 1: Use the vehicle identification industrial control computer 1 to identify the current vehicle model information;

[0119] Step 2: Use the positioning and ranging mechanism 4 to clamp the spare tire conveyed by the spare tire line 2 and check the diameter of the spare tire;

[0120] Step 3: Determine whether the spare tire diameter detected by the positioning and ranging mechanism 4 matches the current vehicle model;

[0121] If so, control the spare tire robot gripper 3 to grab the spare tire and place it into the current vehicle.

[0122] In some embodiments, step 3 includes:

[0123] If so, control the spare tire robot gripper 3 to grab the spare tire;

[0124] The spare tire robot gripper 3 on the translation component 6 is controlled to move synchronously with the current vehicle based on the speed measurement device 7 to measure the current vehicle speed.

[0125] The spare tire robot gripper 3 will grab the matching spare tire and place it into the current vehicle.

[0126] Furthermore, before the spare tire robotic gripper 3 grasps the matching spare tire and places it into the current vehicle, the following steps are taken:

[0127] The vision camera 34 on the spare tire robot gripper 3 is used to detect whether the tailgate of the current vehicle is open and to perform a safety check on the rear trunk.

[0128] When the vision camera 34 detects that the tailgate of the current vehicle is open and the trunk is safe, the spare tire robot gripper 3 will grab the matching spare tire and put it into the current vehicle.

[0129] Furthermore, when the vision camera 34 detects that the tailgate of the current vehicle is open and the trunk is safe, the spare tire robot gripper 3 is controlled to grab the matching spare tire and place it into the current vehicle, including:

[0130] Control the spare tire robot gripper 3 to make the tailgate closing mechanism 35 on the spare tire robot gripper 3 close the tailgate of the current vehicle.

[0131] The control translation component 6 returns the spare tire robot gripper 3 to the starting point, ready for the next round of spare tire deployment.

[0132] In summary, this automatic spare tire delivery device can accurately determine the current vehicle type, the required spare tire for that model, grab the spare tire, follow it, detect if the tailgate is closed, check the safety of the trunk, and complete the spare tire delivery process. While reducing manpower, it also ensures normal production on the main line and guarantees the safety of automatic delivery.

[0133] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0134] It should be noted that in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0135] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A spare tire automatic delivery device suitable for multiple vehicle models, characterized in that, It includes: The vehicle identification industrial computer (1) is used to identify the vehicle model information of the current vehicle; The spare tire line body (2) is provided with a positioning and distance measuring mechanism (4), and the spare tire line body (2) is used to transport spare tires, and the positioning and distance measuring mechanism (4) is used to clamp and position the spare tire line body (2) and detect the diameter of the spare tire; The spare tire robot gripper (3) is used to grab and put the spare tire; The control cabinet (10) is signal connected with the vehicle identification industrial computer (1), the spare tire line body (2), the spare tire robot gripper (3) and the positioning and distance measuring mechanism (4); The control cabinet (10) is used to control the spare tire robot gripper (3) to grab the spare tire and put it into the current vehicle when the diameter of the spare tire detected by the positioning and distance measuring mechanism (4) matches the vehicle model of the current vehicle; The spare tire automatic putting device further comprises: The translation assembly (6) and the speed measuring device (7) are signal connected with the control cabinet (10); The speed measuring device (7) comprises a sling synchronous mechanism (72), and the sling synchronous mechanism (72) comprises a sliding seat (721) and a sling synchronous touch mechanism (722); The sling synchronous touch mechanism (722) comprises: The third driving part (7221) is signal connected with the control cabinet (10), the third driving part (7221) is installed on the sliding seat (721), the third driving part (7221) is connected with a baffle (7222), and the third driving part (7221) can drive the baffle (7222) to approach and contact or move away from the sling; When the sling contacts the baffle (7222), the baffle (7222) moves synchronously under the pushing force of the sling, so that the sliding seat (721) and the sling move synchronously; The sling synchronous mechanism (72) further comprises: The sling synchronous jacking mechanism (723) is signal connected with the control cabinet (10) and fixed to the sliding seat (721); The control cabinet (10) is used to control the sling synchronous jacking mechanism (723) to lift and abut against the bottom of the sling when the sling synchronous touch mechanism (722) contacts the sling, so that the sliding seat (721) and the sling have no relative displacement; The sling synchronous jacking mechanism (723) comprises: The fourth driving part (7231) is signal connected with the control cabinet (10) and installed on the sliding seat (721), the fourth driving part (7231) is connected with a top plate (7232), and the fourth driving part (7231) can drive the top plate (7232) to move upward and limit the sling, so that the sliding seat (721) and the sling have no relative displacement.

2. The spare tire automatic putting device suitable for multiple vehicle models according to claim 1, wherein: The positioning and distance measuring mechanism (4) comprises: A first driving member (41) in signal connection with the control cabinet (10), the first driving member (41) is installed on the spare tire linear body (2) and connected with two clamping positioning arms (42), the two clamping positioning arms (42) are distributed along the width direction of the spare tire linear body (2), and each clamping positioning arm (42) is rotatably connected with at least two first positioning wheels (43); The first driving member (41) can drive the two clamping positioning arms (42) to move towards each other along the width direction of the spare tire linear body (2), so that the four first positioning wheels (43) clamp and position the spare tire; A distance measuring sensor in signal connection with the control cabinet (10), the distance measuring sensor is installed between the two clamping positioning arms (42); The control cabinet (10) is also used for controlling the distance measuring sensor to monitor the distance between the two clamping positioning arms (42), and determining the diameter of the clamped and positioned spare tire according to the distance between the two clamping positioning arms (42).

3. The spare tire automatic delivery device suitable for multiple vehicle models according to claim 2, characterized in that: The spare tire linear body (2) is provided with a blocking mechanism (5), the blocking mechanism (5) is in signal connection with the control cabinet (10), and along the conveying direction of the spare tire linear body (2), the blocking mechanism (5) is located behind the positioning and distance measuring mechanism (4); The control cabinet (10) is used for controlling the blocking mechanism (5) to block the spare tire from entering the positioning and distance measuring mechanism (4).

4. The spare tire automatic delivery device suitable for multiple vehicle models according to claim 3, characterized in that: The blocking mechanism (5) comprises: A second driving member (51) in signal connection with the control cabinet (10), the second driving member (51) is arranged on the spare tire linear body (2), the second driving member (51) is connected with two V-shaped blocking arms (52), the two V-shaped blocking arms (52) are oppositely arranged, and each of the two ends of the blocking arm (52) is rotatably connected with a second positioning wheel (53); A connecting rod mechanism (54) connected between the two blocking arms (52); The second driving member (51) can drive the two blocking arms (52) to move towards each other along the width direction of the spare tire linear body (2), so that the four second positioning wheels (53) clamp and position the spare tire.

5. The spare tire automatic delivery device suitable for multiple vehicle models according to claim 1, characterized in that: The spare tire robot gripper (3) comprises: A multi-degree-of-freedom mechanical arm (31), the end of the multi-degree-of-freedom mechanical arm (31) is fixed with a connecting arm (32), the connecting arm (32) is fixed with a spare tire gripper (33), the spare tire gripper (33) has at least three clamping jaws (331), the three clamping jaws (331) can move along the same plane and move towards or away from the same center; A laser sensor fixed to the side of the connecting arm (32) facing the spare tire; The multi-degree-of-freedom mechanical arm (31), the spare tire gripper (33) and the laser sensor are in signal connection with the control cabinet (10). The control cabinet (10) is used for controlling the spare tire gripper (33) to grab the spare tire, and is also used for controlling the laser sensor to detect the height information of the spare tire rim surface, so as to confirm the spare tire model. 6.The spare tire automatic delivery device suitable for multiple vehicle models according to claim 5, characterized in that: When the spare tire gripper (33) completes the grabbing of the spare tire, the control cabinet (10) is used for detecting the diameter of the spare tire according to the moving distance between the gripper jaw (331) and the center of the circle, so as to confirm the spare tire model. 7.The spare tire automatic delivery device suitable for multiple vehicle models according to claim 5, characterized in that: The spare tire robot gripper (3) further comprises: A visual camera (34) in signal connection with the control cabinet (10), the visual camera (34) is installed on the connecting arm (32), and the control cabinet (10) is used for controlling the visual camera (34) to detect whether the current vehicle tail door is opened and to check the safety of the trunk; A tail door closing mechanism (35) installed on the connecting arm (32), the tail door closing mechanism (35) is used for closing the tail door of the current vehicle. 8.The spare tire automatic delivery device suitable for multiple vehicle models according to claim 7, characterized in that: The tail door closing mechanism (35) comprises: Two connecting rods (351), one end of the two connecting rods (351) is fixed to the connecting arm (32), and the other end is rotatably connected with a roller (352); When the connecting arm (32) moves downward, the connecting arm (32) can drive the roller (352) to move downward to contact and close the tail door of the current vehicle. 9.The spare tire automatic delivery device suitable for multiple vehicle models according to claim 1, characterized in that: The spare tire automatic delivery device further comprises: A translation assembly (6) in signal connection with the control cabinet (10), the spare tire robot gripper (3) is installed on the translation assembly (6), and the control cabinet (10) is used for controlling the translation assembly (6) to drive the spare tire robot gripper (3) to move along the walking direction of the vehicle. 10.The spare tire automatic delivery device suitable for multiple vehicle models according to claim 9, characterized in that: The spare tire automatic delivery device further comprises: A speed measuring device (7) in signal connection with the control cabinet (10), and the control cabinet (10) is used for controlling the translation assembly (6) to drive the spare tire robot gripper (3) to move synchronously with the current vehicle according to the speed of the current vehicle measured by the speed measuring device (7). 11.The spare tire automatic delivery device suitable for multiple vehicle models according to claim 10, characterized in that: The speed measuring device (7) comprises: A slide (71), the length direction of the slide (71) is consistent with the length direction of the translation assembly (6), and a lifting device synchronization mechanism (72) is slidably connected to the slide (71); A synchronous belt (73), the length direction of the synchronous belt (73) is consistent with the length direction of the slide (71), and the synchronous belt (73) is installed on the slide (71), and the synchronous belt (73) is fixed with the lifting device synchronization mechanism (72). A speed encoder (74) connected to the control cabinet (10) in signal, the input of the speed encoder (74) is sleeved into one end of the synchronous belt (73); A motor (75) connected to the control cabinet (10) in signal, the output of the motor (75) is sleeved into the other end of the synchronous belt (73), the motor (75) can drive the synchronous belt (73) to rotate.

12. The spare tire automatic delivery device suitable for multiple vehicle models according to claim 11, characterized in that: The lifting appliance synchronization mechanism (72) comprises: A sliding seat (721) which is slidingly connected to the slide (71) and fixed with the synchronous belt (73); A lifting appliance synchronization contact mechanism (722) which is fixed to the sliding seat (721); When the lifting appliance synchronization contact mechanism (722) is in contact with the lifting appliance, the lifting appliance synchronization contact mechanism (722) is synchronously moved by the pushing force of the lifting appliance, so that the sliding seat (721) and the lifting appliance are synchronized.

13. The spare tire automatic delivery device suitable for multiple vehicle models according to claim 1, characterized in that: The control cabinet (10) has an upstream vehicle model sequence database, and the control cabinet (10) is used to control the spare tire robot gripper (3) to grab the spare tire and deliver it into the current vehicle when the vehicle machine identification industrial computer (1) identifies the current vehicle model information through RFID and the data in the upstream vehicle model sequence database are matched.

14. A method of using a spare tire automatic delivery device suitable for a plurality of vehicle models according to any one of claims 1 to 13, characterized by, It comprises the following steps: The vehicle machine identification industrial computer (1) is used to identify the current vehicle model information; The positioning and distance measuring mechanism (4) is used to clamp and position the spare tire delivered by the spare tire line body (2) and detect the diameter of the spare tire; It is judged whether the diameter of the spare tire detected by the positioning and distance measuring mechanism (4) matches the vehicle model of the current vehicle; If yes, the spare tire robot gripper (3) is controlled to grab the spare tire and deliver it into the current vehicle.

15. The method of claim 14, wherein the method is adapted for use with a plurality of vehicle models. It comprises: If yes, the spare tire robot gripper (3) is controlled to grab the spare tire, which comprises: According to the current vehicle walking speed measured by the speed measuring device (7), the spare tire robot gripper (3) on the translation assembly (6) is controlled to follow the current vehicle synchronously; The spare tire robot gripper (3) is controlled to grab the matched spare tire and deliver it into the current vehicle. It comprises:

16. The method of claim 15, wherein the method is adapted for use with a plurality of vehicle models. Before the spare tire robot gripper (3) is controlled to grab the matched spare tire and deliver it into the current vehicle, it comprises: The vision camera (34) on the spare tire robot gripper (3) is controlled to detect whether the tail door of the current vehicle is open and the rear trunk is safe; When the vision camera (34) detects that the tail door of the current vehicle is open and the rear trunk is safe, the spare tire robot gripper (3) is controlled to grab the matched spare tire and deliver it into the current vehicle. It comprises:

17. The method of claim 16, wherein the method is adapted for use with a plurality of vehicle models. After the spare tire robot gripper (3) is controlled to grab the matched spare tire and deliver it into the current vehicle according to the detection of the vision camera (34) that the tail door of the current vehicle is open and the rear trunk is safe, it comprises: ​ The spare tire robot gripper (3) is controlled to make the tail door closing mechanism (35) on the spare tire robot gripper (3) close the current vehicle tail door. The translation assembly (6) is controlled to return the spare tire robot gripper (3) to the starting point, and wait for the next round of spare tire launching work.

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