CN-121989599-A - Tire automatic assembly production line flow control system

CN121989599ACN 121989599 ACN121989599 ACN 121989599ACN-121989599-A

Abstract

The invention discloses a tire automatic assembly production line flow control system which comprises a visual identification unit, a conveying and transferring unit, an attitude adjusting unit, a robot assembly unit and a central control unit, wherein the visual identification unit is used for identifying the position, the number and the attitude information of tires, the conveying and transferring unit is used for transferring the tires among different work areas, the attitude adjusting unit is used for turning the tires 180 degrees according to the tire assembly requirements, the robot assembly unit is used for grabbing the tires and installing the tires to a hub, and the central control unit is used for obtaining feedback information of each unit and controlling an AGV trolley to perform tire material repairing and empty tray returning. Compared with the prior art, the invention has the advantage of providing the flow control system of the tire automatic assembly line, which realizes the full-flow automation from the material storage, the transportation and the posture adjustment of the tire to the final assembly.

Inventors

ZHANG BAOHUA
ZHAO QINGDONG
GAO PENG
YANG WENQI
ZHANG BINGFENG

Assignees

三一重型装备有限公司

Dates

Publication Date: 20260508
Application Date: 20260403

Claims (8)

1. The tire automatic assembly production line flow control system is characterized by comprising a visual identification unit, a conveying and transferring unit, an attitude adjusting unit, a robot assembly unit and a central control unit; The visual identification unit is used for identifying the position, the number and the gesture information of the tires, and the conveying and transferring unit is used for transferring the tires among different work areas; the attitude adjusting unit is used for overturning the tire by 180 degrees according to the tire assembly requirement, and the robot assembly unit is used for grabbing the tire and is mounted on the hub; And the central control unit acquires feedback information of each unit and controls the AGV trolley to perform tire feeding and empty tray returning.
2. The tire automatic assembly line flow control system of claim 1, wherein the conveying and transferring unit comprises a truss manipulator, a conveyor unit and a lifter unit; The truss manipulator grabs the tire from the tire material level area and is arranged at the feeding end of the first group of conveyor units; And the discharging end of the conveyor unit is fed to the left or right station of the assembly line through the lifting unit.
3. The tire automatic assembly line flow control system of claim 2, wherein the attitude adjustment unit comprises a turnover unit configured to cooperate with a transport unit; when receiving the turning command, the turning unit clamps the tire and rotates 180 degrees.
4. The tire automatic assembly line flow control system of claim 2, wherein said visual identification unit comprises a robotic camera, a tire clamp camera, and a robotic camera; The manipulator camera is arranged on the truss manipulator of the conveying and transferring unit and used for identifying the number and position coordinates of the tires in the tire material level area; the tire clamp camera is arranged at the tail end clamp of the robot assembly unit and used for identifying a clamping center point of a tire; the robot camera is arranged on the machine body or the tail end of the robot assembly unit and used for identifying the installation hole position of the hub and the final assembly posture of the tire.
5. The tire automatic assembly line flow control system of claim 4, wherein the central control unit is in communication connection with the visual identification unit and receives tire material level area image data fed back by the manipulator camera in real time; When the number of the tires is identified to be lower than a preset single-trolley vehicle consumption threshold value, generating a feeding instruction and sending the feeding instruction to the AGV trolley; Controlling the AGV trolley to convey the full-load tires to a material level area, and controlling the AGV trolley to carry empty trays to return to a warehouse after unloading is completed; when the number of tires meets the requirement, the AGV is controlled to stay in the waiting area.
6. The system of claim 4, wherein the robot assembly unit comprises a robot body moving along a track, a quick change device disposed at a distal end of the robot body, and a tire clamp.
7. A tire automated assembly line flow control system according to claim 3, wherein said elevator assembly comprises a first elevator, a second elevator, and a third elevator, and wherein said conveyor assembly comprises a first set of conveyor assemblies and a second set of conveyor assemblies; the first lifter is arranged between the first group of conveyor units and the second group of conveyor units and used for lifting and transferring the tires; The second lifter and the third lifter are respectively arranged at two sides of the output end of the second group of conveyor units, and respectively feed tires to the left side station and the right side station of the assembly line; The central control unit controls the second lifter and the third lifter to release tires alternately or synchronously according to the assembly sequence of the vehicle; The turnover machine is arranged between the first group of transport units and the first lifter, and when the tire needs to be turned over, the turnover machine clamps the tire and rotates 180 degrees and then releases the tire to the first lifter; when overturning is not needed, the tire is conveyed to the first lifter through the first group of conveyor units.
8. A tyre automatic assembly line flow control method, based on a system according to any one of claims 1 to 7, characterized in that it comprises the following steps: s1, identifying the number of tires in a tire material level area through a manipulator camera, and controlling an AGV trolley to perform material supplementing and empty tray recycling if the number of tires in the tire material level area is lower than a preset threshold value; s2, controlling a truss manipulator to grasp the tire to a first group of transport units, and judging whether to start a turnover unit to adjust the posture of 180 degrees according to assembly requirements; S3, transferring the tire subjected to posture adjustment through a lifting unit, and distributing the tire to a position to be grabbed on the left side or the right side of a final assembly line; S4, controlling the robot assembly unit to grasp the tire and mount the tire to the hub through the cooperative positioning of the tire clamp camera and the robot camera, and finally completing the screwing operation.

Description

Tire automatic assembly production line flow control system Technical Field The invention relates to the technical field of tire automatic assembly, in particular to a tire automatic assembly production line flow control system. Background The tire assembly is one of the core processes of commercial vehicles and engineering vehicle production and manufacturing, and the traditional tire assembly mainly adopts two modes of manual assembly and semi-automatic assembly, and has obvious technical short plates. The core problems of manual assembly are low assembly efficiency, poor product quality stability, high labor intensity of manual operation, potential safety hazard of safety operation, and high labor cost and management cost caused by long-term human input; Although manual participation is reduced to a certain extent in semi-automatic assembly, the problems of high initial investment and insufficient flexibility of a production line exist, equipment maintenance is complex, maintenance cost is high, obvious bottlenecks exist in a man-machine cooperation link, the dependence on technology and an integration process is strong, and the requirement of adapting to diversified tire assembly is difficult. At present, a small amount of existing tire automatic assembly production lines in the industry are designed for small-sized vehicles, the intelligent degree is low, the accuracy of matched sensors is insufficient, the control accuracy of equipment is low, the structural design and the control method are not matched with heavy-duty tire assembly scenes of commercial vehicles and engineering vehicles, and the automatic and accurate control of the whole tire assembly process cannot be realized. Disclosure of Invention The technical problem to be solved by the invention is to overcome the technical defects, and provide a flow control system of a tire automatic assembly line, which realizes full-flow automation from material storage, transportation and posture adjustment to final assembly of tires. In order to solve the technical problems, the technical scheme provided by the invention is that the tire automatic assembly production line flow control system comprises a visual identification unit, a conveying and transferring unit, an attitude adjusting unit, a robot assembly unit and a central control unit; The visual identification unit is used for identifying the position, the number and the gesture information of the tires, and the conveying and transferring unit is used for transferring the tires among different work areas; the attitude adjusting unit is used for overturning the tire by 180 degrees according to the tire assembly requirement, and the robot assembly unit is used for grabbing the tire and is mounted on the hub; And the central control unit acquires feedback information of each unit and controls the AGV trolley to perform tire feeding and empty tray returning. Preferably, the conveying and transferring unit comprises a truss manipulator, a conveying unit and a lifting unit; The truss manipulator grabs the tire from the tire material level area and is arranged at the feeding end of the first group of conveyor units; And the discharging end of the conveyor unit is fed to the left or right station of the assembly line through the lifting unit. Preferably, the posture adjusting unit comprises a turnover unit matched with the transportation unit; when receiving the turning command, the turning unit clamps the tire and rotates 180 degrees. Preferably, the visual recognition unit comprises a manipulator camera, a tire clamp camera and a robot camera; The manipulator camera is arranged on the truss manipulator of the conveying and transferring unit and used for identifying the number and position coordinates of the tires in the tire material level area; the tire clamp camera is arranged at the tail end clamp of the robot assembly unit and used for identifying a clamping center point of a tire; the robot camera is arranged on the machine body or the tail end of the robot assembly unit and used for identifying the installation hole position of the hub and the final assembly posture of the tire. Preferably, the central control unit is in communication connection with the visual identification unit, and receives the image data of the tire material level area fed back by the camera of the manipulator in real time; When the number of the tires is identified to be lower than a preset single-trolley vehicle consumption threshold value, generating a feeding instruction and sending the feeding instruction to the AGV trolley; Controlling the AGV trolley to convey the full-load tires to a material level area, and controlling the AGV trolley to carry empty trays to return to a warehouse after unloading is completed; when the number of tires meets the requirement, the AGV is controlled to stay in the waiting area. Preferably, the robot assembly unit comprises a robot body moving along a track, a quick-change device arranged