A gantry robot with a measuring system capable of gripping tyres

Abstract

The utility model discloses a truss robot with measuring system can snatch tire, its characterized is that the production workshop of engineering machinery includes general assembly production line, longitudinal rail, conveying line, stacking area and truss robot, and conveying line includes entrance, and stacking area includes tray, and can be stacked multiple rows multilayer tire on the tray, and truss robot includes cart, trolley, lifting device, jaw and measuring system, and jaw is installed on lifting device, and lifting device is installed on trolley, and trolley can move in the transverse motion on cart, and cart can move in the longitudinal motion on longitudinal rail, and measuring system can measure the coordinate size of the tire on the required snatch tray top layer, and truss robot again according to this coordinate size snatchs corresponding tire, and places this tire in the entrance, and then tire is sent to the set position on general assembly production line through conveying line. The main advantage of the utility model: high degree of automation, high production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of engineering machinery manufacturing technology, specifically a gantry robot with a measurement system capable of gripping tires. Background Technology

[0002] Currently, in various construction machinery manufacturing enterprises, tires are transported from the storage area to the tire conveyor line entrance by cantilever cranes or overhead cranes. The hooking of tires in the storage area and the unhooking of tires at the tire conveyor line entrance are all done manually. The main disadvantages are high labor intensity and low production efficiency. Utility Model Content

[0003] In view of the problems existing in the prior art, the purpose of this utility model is to provide a gantry robot with a measurement system that can grasp tires, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: the production workshop 1 of the engineering machinery includes an aerial assembly line, a longitudinal track 1A, a tire 2 conveyor line 3, a tire 2 stacking area 4, and a gantry robot 5. The conveyor line 3 includes an entrance 3A, and the stacking area 4 includes a pallet 4A, on which multiple rows and multiple layers of tires 2 can be stacked. The gantry robot 5 includes a large trolley 5A, a small trolley 5B, a lifting device 5C, a gripper 5D, and a measuring system 6. The gripper 5D is mounted on the lifting device 5C, and the lifting device 5C is mounted on the small trolley 5B. The small trolley 5B can move laterally on the large trolley 5A, and the large trolley 5A can move longitudinally on the longitudinal track 1A. The measuring system 6 can measure the coordinate dimensions of the tire 2 on the top layer of the required gripping pallet 4A. The gantry robot 5 then grips the corresponding tire 2 according to these coordinate dimensions and places the tire 2 at the entrance 3A. The tire 2 is then sent to the set position on the final assembly line via the conveyor line 3.

[0005] As a further aspect of this utility model: the measurement system 6 includes a vision system 6A, which performs image recognition and can calculate the actual coordinate dimensions of the tire 2.

[0006] As a further aspect of this utility model: the measurement system 6 includes a laser probe 6B, which can calculate the actual coordinate dimensions of the tire 2 by scanning longitudinally and laterally with the laser probe 6B.

[0007] As a further embodiment of this utility model: the trolley 5B includes two independent lifting devices 5C, each lifting device 5C including a gripper 5D. The gantry robot 5 can transport two tires 2 to the entrance 3A at one time through the two independent lifting devices 5C.

[0008] In summary, compared with the prior art, this utility model, by employing a gantry robot with a measurement system, can directly grab tires from the stacking area and place them at the entrance of the tire conveyor line, achieving fully automated and unmanned operation. Its main advantages are: high degree of automation and high production efficiency. Attached Figure Description

[0009] Figure 1 The structural diagram of the longitudinal track 1A, tire 2, conveyor line 3, stacking area 4 and gantry robot 5 in production workshop 1 is also a structural diagram of the entrance 3A that makes up the conveyor line 3, and a structural diagram of the pallet 4A that makes up the stacking area 4. Figure 2 yes Figure 1 The M-direction view is also a structural schematic diagram of the gantry robot 5 consisting of the large vehicle 5A, the small vehicle 5B, the lifting device 5C, the gripper 5D, and the measurement system 6, as well as a structural schematic diagram of the laser probe 6B that makes up the measurement system 6. Figure 3 yes Figure 2 The BB view is also a structural schematic diagram of the vision system 6A that makes up the measurement system 6; Figure 4 This is a schematic diagram of the structure by which the gantry robot 5 can directly grab tire 2 from truck 4B.

[0010] Production workshop 1, longitudinal track 1A, tire 2, conveyor line 3, entrance 3A, stacking area 4, pallet 4A, truck 4B, gantry robot 5, large vehicle 5A, small vehicle 5B, lifting device 5C, gripper 5D, measurement system 6, vision system 6A, laser probe 6B. Detailed Implementation

[0011] The technical solutions of the present utility model will be described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0012] Please see Figures 1-4 In this embodiment of the utility model, the production workshop 1 of the construction machinery includes an aerial assembly line, a longitudinal track 1A, a tire 2 conveyor line 3, a tire 2 stacking area 4, and a gantry robot 5. The conveyor line 3 includes an entrance 3A, and the stacking area 4 includes a pallet 4A, on which multiple rows and multiple layers of tires 2 can be stacked. The gantry robot 5 includes a large trolley 5A, a small trolley 5B, a lifting device 5C, a gripper 5D, and a measuring system 6. The gripper 5D is mounted on the lifting device 5C, and the lifting device 5C is mounted on the small trolley 5B. The small trolley 5B can move laterally on the large trolley 5A, and the large trolley 5A can move longitudinally on the longitudinal track 1A. The measuring system 6 can measure the coordinate dimensions of the tire 2 on the top layer of the required gripping pallet 4A. The gantry robot 5 then grips the corresponding tire 2 according to these coordinate dimensions and places the tire 2 at the entrance 3A. The tire 2 is then sent to the set position on the final assembly line via the conveyor line 3.

[0013] It should be noted that: stacking area 4 can be truck 4B that transports tire 2, and truck 4B can also be pallet 4A.

[0014] The measurement system 6 includes a vision system 6A, which performs image recognition and can calculate the actual coordinate dimensions of the tire 2.

[0015] The measurement system 6 includes a laser probe 6B, which can calculate the actual coordinate dimensions of the tire 2 by scanning longitudinally and laterally with the laser probe 6B.

[0016] The trolley 5B includes two independent lifting devices 5C, each lifting device 5C including a gripper 5D. The gantry robot 5 can transport two tires 2 to the entrance 3A at one time through the two independent lifting devices 5C.

[0017] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front," and "rear," 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. In this utility model, it should also be noted that the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to fixed connection, detachable connection, integral molding connection, mechanical connection, or indirect connection through an intermediate medium. The specific meaning of the terms in this utility model can be understood according to the specific circumstances.

[0018] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A gantry robot with a measurement system capable of gripping tires, characterized by its engineering... The machinery production workshop (1) includes an aerial assembly line, a longitudinal track (1A), a tire (2) conveyor line (3), a tire (2) stacking area (4), and a gantry robot (5). The conveyor line (3) includes an entrance (3A), and the stacking area (4) includes a pallet (4A) on which multiple rows and layers of tires (2) can be stacked. The gantry robot (5) includes a large trolley (5A), a small trolley (5B), a lifting device (5C), a gripper (5D), and a measuring system (6). The gripper (5D) is mounted on the lifting device (5A). On 5C), the lifting device (5C) is installed on the trolley (5B). The trolley (5B) can move laterally on the large trolley (5A), and the large trolley (5A) can move longitudinally on the longitudinal track (1A). The measuring system (6) can measure the coordinate dimensions of the tire (2) on the top layer of the required gripping tray (4A). The gantry robot (5) then grips the corresponding tire (2) according to the coordinate dimensions and places the tire (2) at the entrance (3A). Then the tire (2) is sent to the set position on the final assembly line via the conveyor line (3).

2. A gantry robot with a measurement system capable of gripping tires according to claim 1, characterized in that: The measurement system (6) includes a vision system (6A), which performs image recognition and can calculate the actual coordinate size of the tire (2).

3. A gantry robot with a measurement system capable of gripping tires according to claim 1, characterized in that: The measurement system (6) includes a laser probe (6B), which can calculate the actual coordinate dimensions of the tire (2) by scanning the longitudinal and lateral sides of the laser probe (6B).

4. A gantry robot with a measurement system capable of gripping tires according to claim 2 or 3, characterized in that: The trolley (5B) includes two independent lifting devices (5C), each lifting device (5C) includes a gripper (5D). The gantry robot (5) can transport two tires (2) to the entrance (3A) at one time through the two independent lifting devices (5C).

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