Automatic adjusting device and method for grabbing embryo

Abstract

The application relates to the technical field of tire manufacturing, and discloses a kind of automatic adjusting device and method of grabbing tire blank, including the camera fixed in the center position above the fixed big tray of manipulator, for obtaining the center position of blank steel ring;Blank tray bottom fixed adjusting plate, adjusting plate bottom and platform base sliding fit;At least a pair of linear motion mechanism located in the adjacent side of adjusting plate, the output end of linear motion mechanism is connected with the slide on adjusting plate and sliding fit, and the position of adjusting plate is adjusted according to the center position of blank steel ring obtained by camera to ensure that the center position of blank steel ring is aligned with manipulator linear motion mechanism can be adjusted according to the center position of blank steel ring obtained by camera to ensure that the center position of blank steel ring is aligned with manipulator, the orientation of blank can be automatically adjusted, the action is accurate and safe, completely realizes unmanned operation, and completely solves the technical problem of realizing automatic grabbing tire inaccuracy and instability.

Description

Technical Field

[0001] This invention relates to the field of tire manufacturing technology, and in particular to an automatic adjustment device and method for gripping tire blanks. Background Technology

[0002] In the steam-heated superheated water vulcanization process for tires, there is currently no fully automated system for loading the tires into the pot. The core issue hindering the realization of such an automation system is automatic tire gripping. Existing technologies mostly use robotic arms to grip the tire blanks. Workers move the tire blank tray under the robotic arm and adjust its position, then the robotic arm moves downwards to grip the tire blank. Currently, the position adjustment of the tire blank tray before gripping is done manually based on the positions of the robotic arm and the tray. This cannot guarantee that the tire blank on the tray is in the optimal gripping position, leading to inaccurate and unstable gripping by the robotic arm. In severe cases, this can cause the robotic arm to damage (puncture) the tire blank, or even render the tire blank unusable, resulting in low efficiency. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide an automatic tire clamping and adjustment device and method. The linear motion mechanism can adjust the position of the adjustment plate according to the center position of the tire clamp steel ring obtained by the camera to ensure that the center position of the tire clamp steel ring is aligned with the robot arm. It can automatically adjust the orientation of the tire clamp, with precise and safe movements, and can achieve fully unmanned operation, thus completely solving the technical problem of inaccurate and unstable automatic tire clamping.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0005] In a first aspect, an automatic tire clamping and tire embryo adjustment device includes:

[0006] The camera is fixed above the center of the robotic arm's fixed plate and is used to obtain the center position of the tire blank steel ring;

[0007] The embryo tray has a fixed adjustment plate at the bottom, and the bottom of the adjustment plate slides in conjunction with the platform base.

[0008] At least one pair of linear motion mechanisms located on adjacent sides of the adjustment plate, the output end of the linear motion mechanism is engaged and slidably fitted with the slide rail on the adjustment plate, the linear motion mechanism adjusts the position of the adjustment plate according to the center position of the tire blank steel ring obtained by the camera to ensure that the center position of the tire blank steel ring is aligned with the robot arm.

[0009] As a further implementation, the top surface of the platform base is provided with several omnidirectional balls.

[0010] As a further implementation, the platform base is slidably engaged with the adjustment plate via a omnidirectional ball joint.

[0011] As a further implementation, the adjustment plate is rectangular, and the area of ​​the adjustment plate is larger than the cross-sectional area of ​​the embryo plate.

[0012] As a further implementation, the slide is located at the edge of the adjustment plate and extends along the length of the edge of the adjustment plate.

[0013] As a further implementation, the slide is hollow inside, and the outer side has a slide opening along the length of the slide.

[0014] As a further implementation, the output end of the linear motion mechanism is provided with a T-shaped head, which passes through the slide opening and is fitted with the slide clearance. The linear motion mechanism is arranged laterally and its height is adapted to the slide opening.

[0015] As a further implementation, a controller is also included, which controls the linear motion mechanism's actions based on the center position of the billet steel ring.

[0016] As a further implementation, the camera is mounted on the robotic arm via a camera mounting bracket.

[0017] Secondly, a method for automatically adjusting the tire clamping and embryonic position, employing any of the above-described automatic tire clamping and embryonic position adjusting devices, includes the following steps:

[0018] The tire blank plate is moved under the robot arm via the platform base. The camera captures a planar view of the tire blank and identifies the center position of the tire blank steel ring. The controller controls the linear motion mechanism based on the center position of the tire blank steel ring. The T-shaped head on the linear motion mechanism located on the side adjacent to the adjustment plate slides in the slide and drives the slide to move, so that the adjustment plate, supported by the universal ball, drives the tire blank plate to adjust its position.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The linear motion mechanism of the present invention can adjust the position of the adjustment plate according to the center position of the tire blank steel ring obtained by the camera to ensure that the center position of the tire blank steel ring is aligned with the robot arm. It can automatically adjust the orientation of the tire blank, and the action is precise and safe, realizing fully unmanned operation and completely solving the technical problem of inaccurate and unstable automatic tire gripping.

[0021] 2. The linear motion mechanism of the present invention uses a T-shaped head to cooperate with a slide on the adjustment plate. The T-shaped head can not only slide along the slide when adjusting the position of the adjustment plate, but also drive the adjustment plate to adjust its position. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0023] Figure 1 This is a schematic diagram of the structure of an automatic tire clamping and adjusting device according to an embodiment of the present invention;

[0024] Figure 2 This is a top view schematic diagram of an automatic tire clamping and embryo adjustment device according to an embodiment of the present invention.

[0025] The diagram exaggerates the spacing or dimensions between parts to show their positions; the diagram is for illustrative purposes only.

[0026] Among them: 1-robotic arm, 2-carcass, 3-second servo electric cylinder, 4-first servo electric cylinder, 5-CCD camera, 6-carcass plate, 7-adjustment plate, 8-universal ball, 9-platform base, 10-slide rail, 11-slide rail opening, 12-push-pull rod, 13-T-shaped head, 14-camera fixing bracket. Detailed Implementation

[0027] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0028] Example 1

[0029] In a typical embodiment of the present invention, reference is made to Figures 1-2 As shown, an automatic tire clamping and adjustment device includes a CCD camera 5, a tire clamping plate 6, an adjustment plate 7, and a platform base 9 with a universal ball joint 8. The platform base 9 supports the adjustment plate 7 through the universal ball joint 8. The adjustment plate 7 is fixed to the bottom surface of the tire clamping plate 6. The linear motion mechanism adjusts the position of the adjustment plate according to the center position of the tire clamp steel ring obtained by the CCD camera 5 to ensure that the center position of the tire clamp steel ring is aligned with the robot arm.

[0030] like Figure 1 As shown, firstly, a platform base 9 with a universal ball 8 inlaid on the top surface is made according to the actual size of the tire blank plate 6. An adjustment plate 7 is welded to the bottom surface of the tire blank plate 6 to achieve sliding fit between the bottom of the adjustment plate 7 and the platform base 9. The adjustment plate 7 is rectangular and the area of ​​the adjustment plate 7 is larger than the cross-sectional area of ​​the tire blank plate 6.

[0031] The adjusting plate 7 can be made of stainless steel or plastic with suitable strength and hardness. However, the lower the coefficient of friction on the side of the bottom that contacts the omnidirectional ball 8, the better.

[0032] like Figure 1As shown, a pair of adjacent side edges of the rectangular adjustment plate 7 are provided with slide rails 10, and the slide rails 10 are set along the length direction of the side edge of the adjustment plate 7. The cross section of the slide rails 10 is rectangular and can be made of square tube. The interior of the slide rails is hollow, and the outer side of the slide rails 10 is provided with slide rail openings along the length direction of the slide rails 10.

[0033] A linear motion mechanism is fixed on the outer side of the adjustment plate 7 with slide 10, and servo electric cylinders are selected, namely the first servo electric cylinder 4 and the second servo electric cylinder 3.

[0034] The first servo electric cylinder 4 and the second servo electric cylinder 3 are arranged horizontally and their height is adapted to the slide opening 11, such as Figure 1 As shown, the push-pull rod 12 at the output end of the servo electric cylinder has a T-shaped head 13 at its front end. The T-shaped head passes through the slide opening and is fitted with the slide clearance. The opening width of the slide opening 11 needs to be adapted to the diameter of the push-pull rod 12.

[0035] Note: The push-pull rod 12 of the servo electric cylinder must not be fixed to the adjustment plate 7. It must be ensured that it can move freely back and forth within the slide rail 10. An adjustable CCD camera 5 is installed at the center position above the fixed plate of the robot arm 1 via a camera mounting bracket 14. The principle is to facilitate adjustment and accurate imaging, so as to accurately obtain the center position information of the tire blank steel ring.

[0036] The linear motion mechanism works with the slide rail 10 on the adjustment plate via a T-head. The T-head can not only slide along the slide rail 10 when adjusting the position of the adjustment plate 7, but also drive the adjustment plate 7 to adjust its position.

[0037] This embodiment also includes a controller, which can be installed on the platform base 9. The controller is used to control the action of the first servo cylinder 4 and the second servo cylinder 3 according to the center position of the tire blank steel ring. The first servo cylinder 4 and the second servo cylinder 3 adjust the position of the adjustment plate 7 according to the center position of the tire blank steel ring obtained by the camera to ensure that the center position of the tire blank steel ring is aligned with the robot arm 1.

[0038] In this embodiment, the clearance fit between the slide rail 10 and the T-head 13 is the key to ensuring the motion accuracy of the device. During actual on-site debugging, this fit deviation needs to be considered, and a correction value needs to be set in the program.

[0039] The controller implements process actions through the control of the PLC. For the actions of the electric cylinder, precise calculations and meticulous logic programs are required to complete all actions.

[0040] Example 2

[0041] In a typical embodiment of the present invention, reference is made to Figures 1-2 As shown, an automatic tire clamping and tire embryo adjustment method, using the automatic tire clamping and tire embryo adjustment device described in Example 1, includes the following steps:

[0042] The platform base carrying the tire blank tray is moved to the robot arm and fixed. The camera captures a planar view of the tire blank and identifies the center position of the tire blank steel ring. The controller controls the first servo cylinder 4 and the second servo cylinder 3 to move according to the center position of the tire blank steel ring. The T-head on the linear motion mechanism located on the side adjacent to the adjustment plate slides in the slide and drives the slide to move. Under the support of the universal ball, the adjustment plate drives the tire blank tray to adjust to the set position. Then, the position is verified by taking a picture and identifying the position. The center of the tire blank steel ring is automatically positioned within a 5mm range. After that, the robot arm 1 can stably grasp the tire blank 2.

[0043] This embodiment can automatically adjust the orientation of the tire blank with precise and safe movements, achieving fully unmanned operation and completely solving the technical problem of inaccurate and unstable automatic tire gripping. This design not only facilitates fully automated tire gripping and automated loading, but also contributes to the overall intelligent development of tire manufacturing. Furthermore, it provides technical support and guidance for other automated operations.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic tire clamping and adjusting device, characterized in that, include: The camera is fixed above the center of the robotic arm's fixed plate and is used to obtain the center position of the tire blank steel ring; The embryo tray has a fixed adjustment plate at the bottom, and the bottom of the adjustment plate slides in conjunction with the platform base. The top surface of the platform base is equipped with several omnidirectional balls; At least one pair of linear motion mechanisms located on adjacent sides of the adjustment plate, the output end of the linear motion mechanism is engaged and slidably fitted with the slide rail on the adjustment plate, the linear motion mechanism adjusts the position of the adjustment plate according to the center position of the tire blank steel ring obtained by the camera to ensure that the center position of the tire blank steel ring is aligned with the robot arm; The output end of the linear motion mechanism is provided with a T-shaped head, which passes through the slide opening and is fitted with the slide clearance. The linear motion mechanism is arranged laterally and its height is adapted to the slide opening. It also includes a controller, which controls the linear motion mechanism based on the center position of the billet steel ring.

2. The automatic tire clamping and adjusting device according to claim 1, characterized in that, The platform base is slidably engaged with the adjustment plate via a omnidirectional ball joint.

3. The automatic tire clamping and adjusting device according to claim 1, characterized in that, The adjustment plate is rectangular, and its area is larger than the cross-sectional area of ​​the embryo plate.

4. The automatic tire clamping and adjusting device according to claim 3, characterized in that, The slide rail is located at the edge of the adjustment plate and extends along the length of the edge of the adjustment plate.

5. The automatic tire clamping and adjusting device according to claim 4, characterized in that, The slide is hollow inside, and the outer side has a slide opening along the length of the slide.

6. The automatic tire clamping and adjusting device according to claim 1, characterized in that, The camera is mounted on the robotic arm via a camera mounting bracket.

7. A method for automatically adjusting the gripping embryo, characterized in that, The automatic tire clamping and tire embryo adjustment device as described in any one of claims 1-6 includes the following steps: The camera acquires a planar view of the tire blank and identifies the center position of the tire blank steel ring. The controller controls the linear motion mechanism based on the center position of the tire blank steel ring. The T-shaped head on the linear motion mechanism located on the side adjacent to the adjustment plate slides in the slide and drives the slide to move, so that the adjustment plate, supported by the universal ball, drives the tire blank plate to adjust its position.

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