Tire grabbing system

Abstract

The utility model discloses a tire grabbing system, which belongs to the technical field of vulcanizing machines and comprises a mechanical claw and a visual inspection device, and the visual inspection device is mounted above the mechanical claw through a support. Mark points are arranged on the geometric center of the upper vulcanizing machine chuck, or the geometric center of the upper vulcanizing machine pressure plate, or the central guide column of the central mechanism of the vulcanizing machine; a lower tire blank seam allowance and a Mark point of the grabbed tire blank can be contained in a visual angle of the visual detection device at the same time; the device further comprises a controller, and the controller is connected with the visual detection device and the mechanical claw. According to the structure, the visual detection device is additionally arranged on the existing tire grabbing manipulator to judge whether the position of the manipulator is not centered on a vulcanizing machine central mechanism, so that the accuracy of the tire blank placing position is ensured, and the tire vulcanizing quality is further ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of vulcanizing machines, in particular to a tire gripping system. Background Art

[0002] The robot (tire loading and unloading device) of the tire vulcanizer needs to complete two tire grabbing actions: placing the tire blank into the vulcanization mold, or taking out the vulcanized tire from the vulcanization mold. When placing the tire blank, the centering accuracy between the tire blank mouth and the center mechanism of the vulcanizer will affect the tire shaping and the final vulcanization effect.

[0003] At present, most of the robots used on tire vulcanizers are mechanical limit centering structures. The mechanical limit centering structure will cause the centering accuracy to decrease due to wear and tear, and cannot guarantee good centering accuracy. During use, the operator is also required to visually judge whether the tire blank is placed in an appropriate position, which is relatively subjective. Therefore, it affects the tire gripping accuracy, which in turn directly affects the vulcanization quality.

[0004] In view of the above problems in the prior art, the utility model designs and manufactures a tire gripping system to overcome the above defects. Utility Model Content

[0005] In order to solve the problems existing in the prior art, the utility model provides a tire gripping system, which ensures the accuracy of the tire blank placement position and further ensures the tire vulcanization quality by adding a visual detection device to the existing tire gripping manipulator to determine whether the manipulator position is centered on the vulcanizer center mechanism.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is as follows: a tire gripping system, comprising a mechanical claw and a visual detection device, wherein the visual detection device is installed above the mechanical claw through a bracket;

[0007] The geometric center of the chuck on the vulcanizer, or the geometric center of the pressure plate on the vulcanizer, or the center guide column of the center mechanism of the vulcanizer is provided with a mark point;

[0008] It also includes a controller, which is connected to the visual detection device and the mechanical claw.

[0009] Preferably, the visual inspection device can simultaneously include the lower tire opening and the Mark point of the grasped tire blank within the viewing angle.

[0010] Preferably, the visual detection device is located above the center of the inner hole of the mechanical claw.

[0011] Preferably, the distance between the lower end surface of the visual inspection device and the upper surface of the mechanical claw is set as an installation height, and the minimum value of the installation height is the height difference between the vertical height between the upper surface of the upper chuck of the vulcanizer and the lower surface of the lower chuck of the vulcanizer and the molded tire blank when the center mechanism of the vulcanizer rises to the highest point.

[0012] Preferably, the installation height is the vertical height between the upper surface of the upper chuck of the vulcanizer and the lower surface of the lower chuck of the vulcanizer when the central mechanism of the vulcanizer rises to the highest point.

[0013] Preferably, the Mark point is a reflective plate or a marker with a shape or color.

[0014] Preferably, the bracket is configured as an adjustable bracket, the adjustable bracket includes a cantilever bracket, the cantilever bracket is provided with an adjustment component, the visual detection device is installed on the adjustment component, the visual detection device can be position-adjusted in the X-axis and Y-axis directions of the horizontal plane when driven by the adjustment component, and the visual detection device can be angle-adjusted around the X-axis and Y-axis of the horizontal plane when driven by the adjustment component.

[0015] Preferably, the adjustment assembly comprises a first adjustment member, and the first adjustment member is connected to the end of the cantilever bracket;

[0016] A first rotation axis is provided at the front end of the cantilever bracket, and the first rotation axis is perpendicular to the cantilever bracket and parallel to the horizontal plane;

[0017] The first adjusting member can be adjusted in angle around the first rotation axis;

[0018] The first adjusting member is connected to a second adjusting member, the position of the second adjusting member can be adjusted relative to the first adjusting member, and the adjustment direction of the second adjusting member is consistent with the length direction of the cantilever bracket;

[0019] The second adjusting member is connected to a third adjusting member, the position of the third adjusting member can be adjusted relative to the second adjusting member, and the adjustment direction of the third adjusting member is parallel to the horizontal plane and perpendicular to the length direction of the cantilever bracket;

[0020] The third adjusting member is connected to a fourth adjusting member, a second rotating shaft is provided at the front end of the third adjusting member, the second rotating shaft is consistent with the length direction of the cantilever bracket, and the fourth adjusting member can adjust the angle around the second rotating shaft;

[0021] The visual detection device is mounted on the fourth adjusting member.

[0022] Preferably, the second rotating axis is provided on one side of the visual detection device, and a connecting bolt is provided on the other side of the visual detection device to fasten the fourth adjusting member to the third adjusting member. An arc groove is provided on the fourth adjusting member at the corresponding position of the connecting bolt, and when the fourth adjusting member is adjusted in angle around the second rotating axis, the relative position of the connecting bolt in the arc groove can be adjusted.

[0023] Preferably, a first long slot hole is provided on the second adjusting member, the first long slot hole is consistent with the length direction of the cantilever bracket, a first connecting hole is provided on the first adjusting member at a position corresponding to the first long slot hole, and the second adjusting member is adjusted relative to the first adjusting member by the cooperation of the bolt, the first long slot hole and the first connecting hole;

[0024] The third adjusting member is provided with a second long slot hole, and the second long slot hole is perpendicular to the length direction of the cantilever bracket. The second adjusting member is provided with a second connecting hole at a position corresponding to the long slot hole. The third adjusting member is adjusted relative to the second adjusting member by cooperation of a bolt, the second long slot hole and the second connecting hole.

[0025] The utility model is beneficial in that:

[0026] 1. The utility model adds a visual detection device to the existing tire gripping manipulator. When placing a tire embryo, it can determine whether the position of the mechanical claw is centered on the center mechanism of the vulcanizer, thereby ensuring the accuracy of the position of placing the tire embryo and further ensuring the quality of tire vulcanization.

[0027] 2. The utility model utilizes an adjustment component to ensure that the center of the shooting range of the visual detection device is located at the center of the inner hole of the mechanical claw, and has a simple structure and is easy to adjust. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of a tire gripping system;

[0029] Figure 2 A schematic diagram of an adjustable bracket end of a tire gripping system;

[0030] Figure 3 A front view of an adjustable bracket end of a tire gripping system;

[0031] Figure 4 This is a schematic diagram of the Mark point position when it is aligned, taken by the visual inspection device of the utility model;

[0032] Figure 5 This is a schematic diagram of the position of the Mark point photographed by the visual inspection device of the utility model deviating from the allowable Mark point range;

[0033] Figure 6 It is a schematic diagram showing that the Mark point is located at the geometric center of the upper chuck;

[0034] Figure 7 This is a schematic diagram showing that the mark point is located on the center guide column of the center mechanism of the vulcanizer.

[0035] In the figure: 1-mechanical claw, 2-visual inspection device, 3-adjustable bracket, 4-lower tire mouth, 5-tire, 6-Mark point, 7-upper chuck, 8-lower chuck, 9-inner hole of mechanical claw, 10-center guide column, 31-cantilever bracket, 32-first adjusting member, 33-first rotating axis, 34-second adjusting member, 35-first long slot hole, 36-third adjusting member, 37-second long slot hole, 38-fourth adjusting member, 39-second rotating axis, 40-arc slot. DETAILED DESCRIPTION

[0036] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings.

[0037] like Figures 1 to 7 As shown, a tire gripping system includes a mechanical claw 1 and a visual detection device 2. The visual detection device 2 is installed above the mechanical claw 1 through a bracket. The visual detection device 2 is preferably located above the center of the inner hole 9 of the mechanical claw.

[0038] The geometric center of the chuck 7 on the vulcanizer ( Figure 6 As shown), or, the geometric center of the pressure plate on the vulcanizer, or, the center guide column 10 of the center mechanism of the vulcanizer ( Figure 7 The Mark point 6 is a mark point used for positioning and calibration. The Mark point 6 of the utility model is a point formed by an actual marker, which is convenient for the visual inspection device 2 to shoot and identify. Specifically, it can be a reflector or a marker with a shape or color, etc., preferably a marker with a circle or a cross shape. The Mark point 6 of the utility model is set at the geometric center of the above structure, in order to ensure the concentricity accuracy of the tire blank and the center mechanism of the vulcanizer, and to ensure the accuracy of the detection of the visual inspection device 2, thereby ensuring the accuracy of tire installation.

[0039] The visual inspection device 2 of the utility model preferably has a viewing angle that can simultaneously include the lower tire mouth 4 and the Mark point 6 of the grasped tire blank 5, and can compare the offset between the lower tire mouth and the Mark point 6. At this time, the lower tire mouth represents the actual tire blank position, and the detection accuracy of this position will be higher. The utility model also includes a controller, which is connected to the visual inspection device 2 and the mechanical claw 1. The controller can collect the position image fed back by the visual inspection device 2, and determine whether the positioning of the tire blank meets the center deviation and angle requirements or deviation parameters based on the position image.

[0040] The above structure adds a visual inspection device 2 to the existing tire gripping manipulator. When inserting the tire blank, it can determine whether the position of the mechanical claw 1 is centered on the center mechanism of the vulcanizer, thereby ensuring the accuracy of the position of the tire blank and further ensuring the quality of tire vulcanization.

[0041] Since the distance between the visual inspection device 2 and the Mark point 6 will affect the recognition of the visual inspection device 2, and the more expensive the camera, the better the recognition effect, but it will increase the cost. In order to ensure a suitable cost and at the same time ensure the recognition accuracy, it is also necessary to ensure that the visual inspection device 2 will not interfere with the chuck 7 on the vulcanizer when the mechanical claw 1 descends. The position of the visual inspection device 2 selected by the utility model only needs to meet the following requirements.

[0042] Specifically, the distance between the lower end surface of the visual inspection device 2 and the upper surface of the mechanical claw 1 is set as the installation height, and the minimum value of the installation height is when the center mechanism of the vulcanizer rises to the highest point (that is, when the vulcanization is completed and the demoulding is completed, the vulcanization bladder is fully unfolded), such as Figure 1 As shown, the vertical height between the upper surface of the vulcanizer upper chuck 7 and the lower surface of the vulcanizer lower chuck 8 is different from the height of the molded tire blank 5. Preferably, the installation height is the vertical height between the upper surface of the vulcanizer upper chuck 7 and the lower surface of the vulcanizer lower chuck 8 when the vulcanizer center mechanism rises to the highest point. Generally, the installation height is 1.5 times the height of the molded tire blank 5.

[0043] The bracket of the utility model is configured as an adjustable bracket 3, and the adjustable bracket 3 specifically includes a cantilever bracket 31, and an adjustment component is provided on the cantilever bracket 31. The visual detection device 2 is installed on the adjustment component. The visual detection device 2 can be driven by the adjustment component to adjust the position in the X-axis and Y-axis directions of the horizontal plane, and the visual detection device 2 can be driven by the adjustment component to adjust the angle around the X-axis and Y-axis of the horizontal plane, thereby utilizing the adjustment component to ensure that the center of the shooting range of the visual detection device 2 is located at the center of the inner hole 9 of the mechanical claw.

[0044] The adjustment component specifically includes a first adjustment member 32, the first adjustment member 32 is connected to the end of the cantilever bracket 31, and a first rotating shaft 33 is provided at the front end of the cantilever bracket 31, the first rotating shaft 33 is perpendicular to the cantilever bracket 31 and parallel to the horizontal plane, and the first adjustment member 32 can be adjusted around the first rotating shaft 33; the first adjustment member 32 is connected to the second adjustment member 34, the position of the second adjustment member 34 can be adjusted relative to the first adjustment member 32, and the adjustment direction of the second adjustment member 34 is consistent with the length direction of the cantilever bracket 31; the second adjustment member 34 is connected to the third adjustment member 36, the position of the third adjustment member 36 can be adjusted relative to the second adjustment member 34, and the adjustment direction of the third adjustment member 36 is parallel to the horizontal plane and perpendicular to the length direction of the cantilever bracket 31; the third adjustment member 36 is connected to the fourth adjustment member 38, and a second rotating shaft 39 is provided at the front end of the third adjustment member 36, the second rotating shaft 39 is consistent with the length direction of the cantilever bracket 31, and the fourth adjustment member 38 can be adjusted around the second rotating shaft 39; the visual inspection device 2 is installed on the fourth adjustment member 38.

[0045] A second rotating shaft 39 is provided on one side of the visual inspection device 2, and a connecting bolt is provided on the other side of the visual inspection device 2 to fasten the fourth adjusting member 38 to the third adjusting member 36. An arc groove 40 is provided on the fourth adjusting member 38 at the corresponding position of the connecting bolt. When the fourth adjusting member 38 is adjusted in angle around the second rotating shaft 39, the relative position of the connecting bolt in the arc groove 40 can be adjusted.

[0046] The second adjusting member 34 is provided with a first long slot hole 35, which is consistent with the length direction of the cantilever bracket 31, and the first adjusting member 32 is provided with a first connecting hole at a position corresponding to the first long slot hole 35. The second adjusting member 34 is adjusted relative to the first adjusting member 32 by the cooperation of bolts, the first long slot hole 35 and the first connecting hole; the third adjusting member 36 is provided with a second long slot hole 37, which is perpendicular to the length direction of the cantilever bracket 31, and the second adjusting member 34 is provided with a second connecting hole at a position corresponding to the second long slot hole 37. The third adjusting member 36 is adjusted relative to the second adjusting member 34 by the cooperation of bolts, the second long slot hole 37 and the second connecting hole.

[0047] The tire installation process of the utility model:

[0048] The mechanical claw 1 holds the tire blank 5 above the vulcanization mold, and the visual inspection device 2 takes an image at a specified position and sends it to the controller. The controller compares the position of the Mark point 6 in the image with the set allowable deviation range of the Mark point 6.

[0049] If the deviation range is exceeded (such as Figure 5As shown), the mechanical claw 1 stops moving down and an alarm is processed or a drive instruction and parameters are sent to the controller through a specific image recognition algorithm. The controller controls the adjustment of the position of the mechanical claw 1 to re-identify and determine; if the deviation does not exceed (such as Figure 4 The controller controls the manipulator to continue to descend according to the instruction to complete the tire installation. That is, the tire installation action can be completed only when the centering position of the mechanical claw 1 meets the requirements, ensuring that the tire installation position is consistent each time. During the process, there is no need for manual adjustment and visual position judgment, and the vulcanized tire appearance quality is stable.

[0050] It should be understood that the purpose of these embodiments is only to illustrate the utility model and is not intended to limit the protection scope of the utility model. In addition, it should also be understood that after reading the technical content of the utility model, those skilled in the art can make various changes, modifications and / or variations to the utility model, and all of these equivalent forms also fall within the protection scope defined by the claims attached to this application.

Claims

1. A tire gripping system, characterized in that: It comprises a mechanical claw (1) and a visual detection device (2), wherein the visual detection device (2) is installed above the mechanical claw (1) via a bracket; A mark point (6) is provided on the geometric center of the chuck (7) on the vulcanizer, or the geometric center of the pressure plate on the vulcanizer, or the center guide column (10) of the center mechanism of the vulcanizer; It also includes a controller, which is connected to the visual detection device (2) and the mechanical claw (1).

2. A tire gripping system according to claim 1, characterized in that: The visual inspection device (2) can simultaneously include the lower tire opening (4) and the Mark point (6) of the grasped tire blank (5) within the visual angle of view.

3. A tire gripping system according to claim 1, characterized in that: The visual detection device (2) is located above the center of the inner hole (9) of the mechanical claw.

4. A tire gripping system according to claim 1, characterized in that: The distance between the lower end surface of the visual inspection device (2) and the upper surface of the mechanical claw (1) is set as the installation height, and the minimum value of the installation height is the height difference between the upper surface of the upper chuck (7) of the vulcanizer and the lower surface of the lower chuck (8) of the vulcanizer and the molded tire blank (5) when the central mechanism of the vulcanizer rises to the highest point.

5. A tire gripping system according to claim 4, characterized in that: The installation height is the vertical height between the upper surface of the upper chuck (7) of the vulcanizer and the lower surface of the lower chuck (8) of the vulcanizer when the central mechanism of the vulcanizer rises to the highest point.

6. A tire gripping system according to claim 1, characterized in that: The Mark point (6) is a reflective plate or a marker with a shape or color.

7. A tire gripping system according to claim 1, characterized in that: The bracket is configured as an adjustable bracket (3), the adjustable bracket (3) comprising a cantilever bracket (31), the cantilever bracket (31) being provided with an adjustment component, the visual detection device (2) being mounted on the adjustment component, the visual detection device (2) being able to adjust its position in the X-axis and Y-axis directions of a horizontal plane when driven by the adjustment component, and the visual detection device (2) being able to adjust its angle around the X-axis and Y-axis of a horizontal plane when driven by the adjustment component.

8. A tire gripping system according to claim 7, characterized in that: The adjustment assembly comprises a first adjustment member (32), wherein the first adjustment member (32) is connected to the end of the cantilever bracket (31); A first rotation axis (33) is provided at the front end of the cantilever bracket (31), and the first rotation axis (33) is perpendicular to the cantilever bracket (31) and parallel to a horizontal plane; The first adjusting member (32) can be adjusted in angle around the first rotating axis (33); The first adjusting member (32) is connected to a second adjusting member (34); the position of the second adjusting member (34) can be adjusted relative to the first adjusting member (32); and the adjustment direction of the second adjusting member (34) is consistent with the length direction of the cantilever bracket (31); The second adjusting member (34) is connected to a third adjusting member (36), the position of the third adjusting member (36) can be adjusted relative to the second adjusting member (34), and the adjustment direction of the third adjusting member (36) is parallel to the horizontal plane and perpendicular to the length direction of the cantilever bracket (31); The third adjusting member (36) is connected to a fourth adjusting member (38); a second rotating shaft (39) is provided at the front end of the third adjusting member (36); the second rotating shaft (39) is consistent with the length direction of the cantilever bracket (31); and the fourth adjusting member (38) can be adjusted in angle around the second rotating shaft (39); The visual detection device (2) is mounted on the fourth adjustment member (38).

9. A tire gripping system according to claim 8, characterized in that: The visual inspection device (2) is provided with the second rotating shaft (39) on one side, and the visual inspection device (2) is provided with a connecting bolt on the other side, which can fasten the fourth adjusting member (38) to the third adjusting member (36). The fourth adjusting member (38) at the corresponding position of the connecting bolt is provided with an arc groove (40). When the fourth adjusting member (38) is adjusted in angle around the second rotating shaft (39), the relative position of the connecting bolt in the arc groove (40) can be adjusted.

10. A tire gripping system according to claim 8, characterized in that: The second adjusting member (34) is provided with a first long slot hole (35), the first long slot hole (35) is consistent with the length direction of the cantilever bracket (31), the first adjusting member (32) is provided with a first connecting hole at a position corresponding to the first long slot hole (35), and the second adjusting member (34) is adjusted relative to the first adjusting member (32) by the cooperation of a bolt, the first long slot hole (35) and the first connecting hole; The third adjusting member (36) is provided with a second long slot hole (37), the second long slot hole (37) is perpendicular to the length direction of the cantilever bracket (31), and the second adjusting member (34) is provided with a second connecting hole at a position corresponding to the long slot hole, and the third adjusting member (36) is adjusted relative to the second adjusting member (34) by the cooperation of a bolt, the second long slot hole (37) and the second connecting hole.

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