An automatic unloading device

Abstract

This utility model relates to the field of tire packaging technology, specifically disclosing an automatic unloading device, including a control cabinet, a six-axis robot, and a flexible clamping mechanism located at the end of the six-axis robot. The flexible clamping mechanism includes: a rotating base connected to the end of the six-axis robot via a servo motor, the servo motor being fixed to the end of the six-axis robot and driving the rotating base to rotate continuously 360° around a vertical axis; a strip slide rail fixed on the rotating base, and the strip slide rail having an axial groove; and a bidirectional motor fixed at the center of the groove. This automatic unloading device achieves rapid and accurate unloading through the coordinated work of components such as an automatic moving platform, a six-axis robot, and a flexible clamping mechanism. It has good adaptability to tires of different specifications and angles, effectively protects the tire surface, and has overload protection function, improving unloading efficiency, equipment reliability and intelligence, and reducing maintenance costs.

Description

Technical Field

[0001] This utility model relates to the field of tire packaging technology, and specifically discloses an automatic unloading device. Background Technology

[0002] In the tire manufacturing industry, fully automatic tire wrapping machines are key equipment for achieving automated tire wrapping and packaging.

[0003] Traditional tire wrapping machines have several shortcomings in the unloading process. Firstly, manual unloading is inefficient and prone to delays due to human error, affecting the continuity of the entire production process, increasing production costs, and failing to meet the demands of large-scale, high-efficiency modern tire production. Secondly, existing automatic unloading devices are complex in structure, lack flexibility and versatility, and are insufficiently adaptable to tires of different specifications and shapes. They cannot accurately clamp and unload tires, easily causing surface damage and affecting product quality. Furthermore, these devices often lack intelligent monitoring and protection functions, failing to monitor various parameters during the unloading process in real time. In case of overload or other abnormal situations, they cannot take timely measures, easily leading to equipment damage, increased maintenance costs and downtime, and reduced production efficiency.

[0004] Therefore, in order to overcome the shortcomings of existing technologies, a new type of automatic unloading device has been developed, which aims to improve the efficiency, reliability and intelligence of the unloading process of fully automatic tire wrapping machines, so as to meet the needs of tire manufacturers for high-quality and high-efficiency production. Utility Model Content

[0005] This utility model proposes an automatic unloading device that can achieve rapid and accurate unloading, adapt to different tires, protect the tire surface, has overload protection, improves unloading efficiency, equipment reliability and intelligence, and reduces maintenance costs.

[0006] This utility model is implemented as follows: an automatic unloading device includes a control cabinet, a six-axis robot, and a flexible clamping mechanism disposed at the end of the six-axis robot; the flexible clamping mechanism includes:

[0007] A rotating base is connected to the end of the six-axis robot via a servo motor. The servo motor is fixed to the end of the six-axis robot and drives the rotating base to rotate continuously 360° around the vertical axis.

[0008] A strip slide rail is fixed to the rotating base, and the strip slide rail is provided with an axial groove;

[0009] A bidirectional motor is fixed at the center of the slide groove;

[0010] Two lead screws are symmetrically arranged on both sides of the output end of the bidirectional motor, and the axis of the lead screws coincides with the axis of the slide groove;

[0011] Two slide blocks are located in the slide groove and slidably connected to the slide groove, and the two slide blocks are threadedly fitted onto the lead screws on both sides;

[0012] Two rigid clamping assemblies, each rigid clamping assembly including a clamping arm welded and fixed to the slide and a clamping seat integrally formed at the end of the clamping arm.

[0013] As a preferred embodiment of the automatic unloading device of this utility model, the six-axis robot is provided with an automatic moving platform at its bottom. The automatic moving platform is composed of a set of walking wheels connected by a drive motor, and a positioning sensor is embedded at the bottom of the automatic moving platform.

[0014] As a preferred embodiment of the automatic unloading device of this utility model, the clamping working surface of the clamping seat is provided with a V-groove, and the opening angle of the V-groove is 90-120°;

[0015] The surface of the V-groove is coated with an elastic buffer layer, which is made of polyurethane material with a Shore hardness of 75-85A and a thickness of 3.5±0.5mm.

[0016] As a preferred embodiment of the automatic unloading device of this utility model, a pressure sensor array is embedded between the elastic buffer layer and the bottom surface of the V-groove, and each pressure sensor is arranged at equal intervals along the axial direction of the V-groove.

[0017] As a preferred embodiment of the automatic unloading device of this utility model, the clamping surface of the elastic buffer layer is provided with diamond-shaped anti-slip texture, the depth of the anti-slip texture is 0.5-1mm, and the spacing between adjacent textures is 2-3mm.

[0018] As a preferred embodiment of the automatic unloading device of this utility model, a torque limiter is coaxially connected between the output shaft of the servo motor and the rotating base. The input end of the torque limiter is fixedly connected to the output shaft of the servo motor through a flange, and the output end is connected to the drive shaft of the rotating base through a keyway. The threshold value of the torque limiter is set to 1.2-1.5 times the rated load of the flexible clamping mechanism.

[0019] The beneficial effects of this utility model are:

[0020] 1. By combining an automatic moving platform and a six-axis robot, the unloading device can quickly and accurately reach the unloading position and operate, reducing manual intervention and greatly improving unloading efficiency. Furthermore, the rotatable design of the flexible clamping mechanism and the movable function of the slide can adapt to tires of different specifications and placement angles, improving the versatility of the device.

[0021] 2. The design of V-groove, elastic buffer layer, anti-slip texture and pressure sensor array effectively avoids damage to the tire during unloading, ensuring the surface quality of the tire; the setting of torque limiter protects the flexible clamping mechanism from overload damage, extends the service life of the equipment, reduces maintenance costs, and improves the reliability and stability of equipment operation. In addition, the pressure sensor array monitors the pressure in real time and provides feedback, realizing precise control of the clamping force and improving the intelligence level of the unloading device. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0024] Figure 2 This is a cross-sectional view of the flexible clamping mechanism of this utility model.

[0025] Figure 3 This is a schematic diagram of the pressure sensor of this utility model.

[0026] Figure 4 This is a schematic diagram of the structure of the rhomboid anti-slip texture of this utility model.

[0027] The markings in the diagram are: 1. Control cabinet; 2. Six-axis robot; 3. Flexible gripping mechanism; 4. Rotating base; 5. Servo motor; 6. Strip rail; 7. Slide groove; 8. Bidirectional motor; 9. Lead screw; 10. Slide block; 11. Gripping arm; 12. Gripping seat; 13. Automatic moving platform; 14. Walking wheel set; 15. Positioning sensor; 16. V-groove; 17. Elastic buffer layer; 18. Pressure sensor; 19. Diamond-shaped anti-slip texture; 20. Torque limiter. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments to aid in understanding its content. Unless otherwise specified, the methods used in this invention are conventional methods; the raw materials and apparatus used, unless otherwise specified, are conventional commercially available products.

[0029] Please see Figure 1-4 An automatic unloading device includes a control cabinet 1, a six-axis robot 2, and a flexible clamping mechanism 3 located at the end of the six-axis robot 2.

[0030] The flexible clamping mechanism 3 includes:

[0031] The rotating base 4 is connected to the end of the six-axis robot 2 via a servo motor 5. The servo motor 5 is fixed to the end of the six-axis robot 2 and drives the rotating base 4 to rotate continuously around the vertical axis 360°.

[0032] The strip slide rail 6 is fixed on the rotating base 4, and the strip slide rail 6 is provided with an axial groove 7;

[0033] A bidirectional motor 8 is fixed at the center of the slide 7;

[0034] Two lead screws 9 are symmetrically arranged on both sides of the output end of the bidirectional motor 8, and the axis of the lead screw 9 coincides with the axis of the slide groove 7;

[0035] Two slide blocks 10 are located in the slide groove 7 and are slidably connected to the slide groove 7. The two slide blocks 10 are threadedly fitted onto the lead screws 9 on both sides.

[0036] Two rigid clamping assemblies, each including a clamping arm 11 welded to the slide 10 and a clamping seat 12 integrally formed at the end of the clamping arm 11.

[0037] In this embodiment: the automatic unloading device drives the walking wheel set 14 through the drive motor of the automatic moving platform 13, and moves to the unloading position of the fully automatic tire wrapping machine with the assistance of the positioning sensor 15; the six-axis robot 2 drives the flexible clamping mechanism 3 to approach the tire, the servo motor 5 drives the rotating base 4 to rotate, and adjusts the direction of the flexible clamping mechanism 3 so that the V-groove 16 of the clamping seat 12 is aligned with the tire; the bidirectional motor 8 works, drives the two lead screws 9 to rotate, and drives the two slides 10 to move along the slide groove 7, so that the two rigid clamping components approach the tire and clamp it; during the clamping process, the elastic buffer layer 17 on the surface of the V-groove 16 contacts the tire, the pressure sensor 18 array monitors the pressure distribution in real time and feeds it back to the control system, and the control system adjusts the output of the bidirectional motor 8 according to the feedback information to ensure a suitable clamping force; after unloading is completed, the bidirectional motor 8 reverses, releases the tire, and the six-axis robot 2 and the automatic moving platform 13 return to the initial position or go to the next unloading position;

[0038] The servo motor 5 drives the rotating base 4 to rotate continuously 360° around the vertical axis, so that the flexible clamping mechanism 3 can flexibly adjust the angle and approach the tire from different directions, solving the problem that traditional unloading devices cannot adapt to tires with different placement angles.

[0039] The strip rail 6 is fixed on the rotating base 4, the bidirectional motor 8 is placed in the center of the slide groove 7, and two lead screws 9 are symmetrically distributed on both sides of the output end of the bidirectional motor 8. The two slide blocks 10 are threadedly engaged with the lead screws 9 and slide in the slide groove 7, driving the two rigid clamping components to move closer or further away. It can be adaptively adjusted according to the tire size, which improves the versatility for different tire specifications, overcomes the defect of poor adaptability to tire size of traditional devices, effectively avoids damage to the tire surface caused by improper clamping, and ensures product quality.

[0040] As a technical optimization of this utility model, the six-axis robot 2 is provided with an automatic moving platform 13 at the bottom. The automatic moving platform 13 is composed of a walking wheel group 14 connected by a drive motor, and a positioning sensor 15 is embedded at the bottom of the automatic moving platform 13.

[0041] In this embodiment: the drive motor drives the walking wheel set 14, enabling the automatic unloading device to move autonomously, and the positioning sensor 15 can assist the device in accurate positioning; when the fully automatic tire wrapping machine is unloading, the automatic moving platform 13 can enable the unloading device to reach the designated position quickly and accurately without manual handling, which greatly improves the unloading efficiency, solves the problem of low efficiency caused by the need for manual assistance in the movement of traditional unloading devices, and improves the automation level of the fully automatic tire wrapping machine;

[0042] It should be noted that the walking wheel set 14 connected to the drive motor is an existing mature technology. The specific structure of the walking wheel set 14 connected to the drive motor is not shown in the figure. The existing AGV (Automated Guided Vehicle) drive scheme can be adopted, and the walking wheel set 14 is driven by the drive motor.

[0043] As a technical optimization of this utility model, the clamping working surface of the clamping seat 12 is provided with a V-groove 16, and the opening angle of the V-groove 16 is 90-120°.

[0044] The surface of the V-groove 16 is coated with an elastic buffer layer 17, which is made of polyurethane material with a Shore hardness of 75-85A and a thickness of 3.5±0.5mm.

[0045] In this embodiment, the surface of the V-groove 16 is coated with a polyurethane elastic buffer layer 17 with a Shore hardness of 75-85A and a thickness of 3.5±0.5mm. When clamping the tire, the elastic buffer layer 17 can effectively avoid hard damage to the tire surface, while increasing the friction with the tire surface, preventing the tire from slipping during clamping, ensuring the stability and safety of the tire during unloading, and reducing tire damage caused by unstable clamping.

[0046] As a technical optimization of this utility model, an array of pressure sensors 18 is embedded between the elastic buffer layer 17 and the bottom surface of the V-groove 16, and each pressure sensor 18 is arranged at equal intervals along the axial direction of the V-groove 16.

[0047] In this embodiment: when clamping the tire, the pressure sensor array 18 can monitor the pressure distribution between the tire and the V-groove 16 in real time and feed the data back to the control system. Based on the pressure feedback information, the control system precisely adjusts the output of the bidirectional motor 8 to keep the clamping force within a suitable range, ensuring reliable clamping while avoiding damage to the tire due to excessive clamping force, thus improving the intelligence of the unloading device and its ability to protect the tire.

[0048] As a technical optimization of this utility model, the clamping surface of the elastic buffer layer 17 is provided with diamond-shaped anti-slip texture 19, the depth of the anti-slip texture is 0.5-1mm, and the spacing between adjacent textures is 2-3mm.

[0049] In this embodiment: during the clamping process of the tire, these anti-slip patterns further increase the friction between the elastic buffer layer 17 and the tire surface, effectively preventing the tire from slipping during the unloading process, improving the stability and reliability of clamping, ensuring the smooth progress of the unloading operation, and avoiding unloading failure or equipment failure caused by tire slippage.

[0050] As a technical optimization of this utility model, a torque limiter 20 is coaxially connected between the output shaft of the servo motor 5 and the rotating base 4. The input end of the torque limiter 20 is fixedly connected to the output shaft of the servo motor 5 through a flange, and the output end is connected to the drive shaft of the rotating base 4 through a keyway. The threshold of the torque limiter 20 is set to 1.2-1.5 times the rated load of the flexible clamping mechanism 3.

[0051] In this embodiment: during the unloading process of the fully automatic tire wrapping machine, when the torque on the rotating base 4 exceeds the set threshold, the torque limiter 20 automatically slips to prevent the flexible clamping mechanism 3 from being damaged due to overload, thus protecting the core components of the equipment, extending the service life of the equipment, reducing the equipment maintenance cost, and improving the reliability and stability of the equipment operation.

[0052] It should be noted that the torque limiter 20 is existing technology, and its specific structure is not shown in the figure.

[0053] Working principle and usage process of this utility model:

[0054] The automatic unloading device, in coordination with the drive motor and positioning sensor 15 of the automatic moving platform 13, moves to the unloading station of the fully automatic tire wrapping machine. The six-axis robot 2 drives the flexible clamping mechanism 3 to approach the tire, and the servo motor 5 drives the rotating base 4 to rotate, adjusting the angle of the flexible clamping mechanism 3 so that the V-groove 16 of the clamping seat 12 is aligned with the tire. The bidirectional motor 8 starts, driving the lead screw 9 to rotate, and the slide 10 drives the rigid clamping component to approach the tire. The elastic buffer layer 17 contacts the tire, and the pressure sensor array 18 monitors the pressure in real time. The control system adjusts the output of the bidirectional motor 8 according to the feedback information from the pressure sensor array 18 to ensure appropriate clamping force and complete the clamping of the tire. The six-axis robot 2 drives the flexible clamping mechanism 3 holding the tire to move to the unloading position to complete the unloading operation. The bidirectional motor 8 reverses, the rigid clamping component releases the tire, and the six-axis robot 2 and the automatic unloading device return to the initial position or move to the next unloading position to prepare for the next unloading operation.

[0055] In the description of this utility model, it should be understood that the terms "left", "right", "up", "down", "top", "bottom", "front", "back", "inner", "outer", "back", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0056] However, the above are merely specific embodiments of this utility model and should not be construed as limiting the scope of implementation of this utility model. Therefore, any substitution of equivalent components or equivalent changes and modifications made in accordance with the scope of protection of this utility model should still fall within the scope of the claims of this utility model.

Claims

1. An automatic unloading device, comprising a control cabinet (1), a six-axis robot (2), and a flexible clamping mechanism (3) disposed at the end of the six-axis robot (2); characterized in that: The flexible clamping mechanism (3) includes: The rotating base (4) is connected to the end of the six-axis robot (2) via a servo motor (5). The servo motor (5) is fixed to the end of the six-axis robot (2) and drives the rotating base (4) to rotate continuously around the vertical axis 360°. A strip slide rail (6) is fixed on the rotating base (4), and the strip slide rail (6) is provided with an axial groove (7); A bidirectional motor (8) is fixed at the center of the slide (7); Two lead screws (9) are symmetrically arranged on both sides of the output end of the bidirectional motor (8), and the axis of the lead screws (9) coincides with the axis of the slide groove (7); Two slide blocks (10) are located in the slide groove (7) and are slidably connected to the slide groove (7), and the two slide blocks (10) are threadedly fitted onto the lead screws (9) on both sides; Two rigid clamping assemblies, each rigid clamping assembly including a clamping arm (11) welded and fixed to the slide (10) and a clamping seat (12) integrally formed at the end of the clamping arm (11).

2. The automatic unloading device according to claim 1, characterized in that: The six-axis robot (2) is equipped with an automatic moving platform (13) at its bottom. The automatic moving platform (13) is composed of a walking wheel group (14) connected by a drive motor, and a positioning sensor (15) is embedded at the bottom of the automatic moving platform (13).

3. The automatic unloading device according to claim 1, characterized in that: The clamping working surface of the clamping seat (12) is provided with a V-groove (16), and the opening angle of the V-groove (16) is 90-120°; The surface of the V-groove (16) is coated with an elastic buffer layer (17), which is made of polyurethane material with a Shore hardness of 75-85A and a thickness of 3.5±0.5mm.

4. An automatic unloading device according to claim 3, characterized in that: An array of pressure sensors (18) is embedded between the elastic buffer layer (17) and the bottom surface of the V-groove (16), and each pressure sensor (18) is arranged at equal intervals along the axial direction of the V-groove (16).

5. An automatic unloading device according to claim 3, characterized in that: The clamping surface of the elastic buffer layer (17) is provided with diamond-shaped anti-slip texture (19), the depth of the anti-slip texture is 0.5-1mm, and the spacing between adjacent textures is 2-3mm.

6. An automatic unloading device according to claim 1, characterized in that: A torque limiter (20) is coaxially connected between the output shaft of the servo motor (5) and the rotating base (4). The input end of the torque limiter (20) is fixedly connected to the output shaft of the servo motor (5) through a flange, and the output end is connected to the drive shaft of the rotating base (4) through a keyway. The threshold of the torque limiter (20) is set to 1.2-1.5 times the rated load of the flexible clamping mechanism (3).

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