技术领域technical field
本实用新型涉及仓储领域，具体涉及一种轮胎垛搬运装置。The utility model relates to the storage field, in particular to a tire stack handling device.
背景技术Background technique
随着世界工业跨入4.0时代，数字化车间与智能制造的迅速发展。自动化在制造业的应用越来越重要。目前，很多企业研发立体仓库，期望解决占地面积大，存储效率低下的问题。如：专利号为CN105346911A的中国申请专利公开的“立体仓库及其仓储方法”采用多层货架，通过堆垛机在轨道上行走，实现货物存取；专利号为CN205045399U的中国实用新型专利公开的“一种自动立体仓储系统”采用高层货架，相邻货架间通过巷道堆垛机存取；专利号为CN201660273U的中国实用新型专利公开的“一种轮胎立式仓储系统”使轮胎储存装置沿垂直方向设置，轮胎提升装置相对端设置阻尼式轮胎降落装置，轮胎依靠重力沿S形轨迹单个下落。上述现有技术存在以下问题：1)采用多层货架，成本以及后期的维护费用高；2)不能针对不同批量和品种的轮胎进行合理管理；3)主要依靠人力操作，不能系统化管理和智能化管理。此外，轮胎仓储系统的多个流程，如分拣系统、堆垛系统和解垛系统均存在人力介入过多、设备占地面积大、工作效率低下等问题。As the world's industry enters the 4.0 era, digital workshops and intelligent manufacturing are developing rapidly. The application of automation in manufacturing is becoming more and more important. At present, many companies are developing three-dimensional warehouses, hoping to solve the problems of large floor space and low storage efficiency. Such as: the Chinese application patent No. CN105346911A discloses the "three-dimensional warehouse and its storage method" using multi-layer shelves, and the storage and retrieval of goods is realized by walking on the track through a stacker; "An automatic three-dimensional storage system" adopts high-rise shelves, and the adjacent shelves are accessed through the roadway stacker; the Chinese utility model patent No. CN201660273U discloses "a tire vertical storage system" that makes the tire storage device along the vertical The direction is set, and the opposite end of the tire lifting device is provided with a damping tire landing device, and the tires fall individually along the S-shaped track by gravity. The above-mentioned existing technology has the following problems: 1) the use of multi-layer shelves, the cost and later maintenance costs are high; 2) it cannot be reasonably managed for different batches and varieties of tires; 3) it mainly relies on manual operation, and cannot be managed systematically and intelligently management. In addition, multiple processes of the tire storage system, such as the sorting system, stacking system and depalletizing system, have problems such as excessive human intervention, large equipment footprint, and low work efficiency.
实用新型内容Utility model content
本申请要解决的技术问题是提供一种新型的智能化轮胎仓储系统，该系统不仅能对不同批量和不同品种的轮胎进行分类管理，而且还能进行智能化集成管理。本申请还要提供应用该智能化轮胎仓储系统的仓储方法。同时，本申请还要提高应用于上述智能化轮胎仓储系统的轮胎分拣系统及其分拣方法、轮胎垛搬运装置、轮胎垛解垛装置、以及智能化轮胎垛解垛系统。The technical problem to be solved in this application is to provide a new type of intelligent tire storage system, which can not only classify and manage tires of different batches and varieties, but also carry out intelligent integrated management. The application also provides a storage method using the intelligent tire storage system. At the same time, the application also improves the tire sorting system and its sorting method, the tire stack handling device, the tire stack unstacking device, and the intelligent tire stack unstacking system applied to the above-mentioned intelligent tire storage system.
轮胎分拣系统，包括输送主线和分拣机，在输送主线的至少一侧设有输送支线，所述输送支线包括依次设置的分拣区、放箱区和运箱区；所述输送主线上设有扫码装置和多个推手，所述推手根据扫码装置反馈的信息选择性地将轮胎推至对应地的分拣区，所述分拣机将分拣区的轮胎抓取放入放箱区的箱内并码垛；码垛后的实箱沿下方设置的传送带移动至运箱区输出，空箱由运箱区移动至放箱区补位。The tire sorting system includes a main conveying line and a sorter, and a conveying branch line is provided on at least one side of the main conveying line, and the conveying branch line includes a sorting area, a box-putting area, and a box-carrying area arranged in sequence; A code scanning device and a plurality of pushers are provided, and the pushers selectively push the tires to the corresponding sorting area according to the information fed back by the code scanning device, and the sorting machine grabs and puts the tires in the sorting area The boxes in the box area are stacked; the stacked full boxes are moved to the box transport area along the conveyor belt set below, and the empty boxes are moved from the box transport area to the box release area to make up for them.
输送线上设置的多个推手可以将多种轮胎分别推至分拣区的不同位置，实现不同品种的分拣。分拣机将不同品种的轮胎抓取放入对应的箱体并直接进行码垛，不需要人工码垛和装箱。装满堆垛后的实箱可以沿下方的传送带移动至运箱区自动输出，不需要人工搬运。实箱输出后在放箱区形成的空位由运输区的空箱自动补位，进一步提升分拣效率。本申请的轮胎分拣系统结构简单，自动化程度高，人力介入少，有效地提升了分拣效率和生产成本。Multiple pushers set on the conveying line can push various tires to different positions in the sorting area to realize the sorting of different varieties. The sorting machine grabs and puts different types of tires into the corresponding boxes and stacks them directly without manual stacking and packing. The full-stacked solid boxes can be moved along the conveyor belt below to the box-carrying area for automatic output without manual handling. After the output of the solid boxes, the vacancies formed in the box-putting area are automatically filled by the empty boxes in the transport area, further improving the sorting efficiency. The tire sorting system of the present application has a simple structure, a high degree of automation, and less human intervention, which effectively improves the sorting efficiency and production cost.
进一步，所述输送主线设有回收口，未能分拣或者不合格的产品可从回收口回收，防止在输送主线上堆放造成分拣停车，保证正常的分拣效率。Furthermore, the main conveying line is provided with a recovery port, and unsorted or unqualified products can be recovered from the recovery port, so as to prevent sorting parking caused by stacking on the main conveying line and ensure normal sorting efficiency.
进一步，所述推手通过液压控制。通过液压控制的推手可实现快速推动且动力强。Further, the push handle is hydraulically controlled. The hydraulically controlled push handle enables quick and powerful pushing.
进一步，所述输送主线的两侧均设有输送支线，两侧的运箱区形成U形或方形结构。在输送主线的两侧设置输送支线，可进一步提升分拣的品种和分拣的效率。使两侧的运箱区形成U形或方形结构相当于增加了实箱的运输方向，使实箱的输出和空箱的补位更灵活。Further, both sides of the main conveying line are provided with conveying branch lines, and the container transport areas on both sides form a U-shaped or square structure. Setting up conveying branch lines on both sides of the main conveying line can further improve the sorting variety and sorting efficiency. Forming a U-shaped or square structure on both sides of the box transport area is equivalent to increasing the transport direction of the full box, making the output of the full box and the replacement of the empty box more flexible.
进一步，所述放箱区中箱子的高度≤分拣区的高度；所述推手可直接将分拣区的轮胎推入放箱区的箱内，分拣机可对箱内的轮胎进行码垛。当分拣区某种规格的轮胎过多时，推手可以直接将其推入箱内，然后由分拣机在箱子内码垛，相当于增加了缓冲空间，保证分拣有序高效地进行。当箱子的高度≤分拣区的高度时，可降低推手推轮胎时的阻力。Further, the height of the boxes in the box-putting area≤the height of the sorting area; the pusher can directly push the tires in the sorting area into the box in the box-putting area, and the sorter can stack the tires in the box . When there are too many tires of a certain specification in the sorting area, the pusher can directly push them into the box, and then the sorter will stack them in the box, which is equivalent to increasing the buffer space and ensuring orderly and efficient sorting. When the height of the box is less than or equal to the height of the sorting area, the resistance when pushing the tires can be reduced.
进一步，所述放箱区中每个箱子下方的传送带相互独立。这样设置便于分别控制实箱的输出，防止未放满堆垛的箱体输出。Further, the conveyor belts under each box in the box putting area are independent of each other. This setting is convenient for controlling the output of solid boxes separately, and prevents the output of boxes that are not fully stacked.
进一步，所述分拣机包括机械抓手和桥式起重机。机械抓手可以横向和纵向移动，从轮胎内侧通过改变内径大小来抓取轮胎，实现精确定位，急停急放。桥式起重机上的小车可以沿着导轨移动，增加机械抓手操作的空间范围。同时，机械抓手可将轮胎在箱内码垛或者装箱。Further, the sorting machine includes a mechanical gripper and a bridge crane. The mechanical gripper can move horizontally and vertically, and grab the tire from the inner side of the tire by changing the inner diameter to achieve precise positioning and emergency stop and release. The trolley on the bridge crane can move along the guide rails to increase the space range for the mechanical gripper to operate. At the same time, the mechanical gripper can stack or pack the tires in the box.
进一步，所述运箱区设有球式转向台。球式转向台可以实现三个方向的运动，同时与箱子下方传送带紧密连接。空箱定位到空缺的位置，通过球式转向台改变方向，使其沿着传送带移动到空缺位置，实现空箱的补充，然后球式转向台恢复最初的运动状态。Further, the box carrying area is provided with a ball steering table. The ball steering table can realize the movement in three directions, and at the same time, it is closely connected with the conveyor belt under the box. The empty box is positioned to the vacant position, and the direction is changed by the ball steering table, so that it moves to the vacant position along the conveyor belt to realize the replenishment of the empty box, and then the ball steering table returns to the original motion state.
应用上述轮胎分拣系统的分拣方法，包括以下步骤：S1、输送主线将经扫码装置识别后的轮胎移动至推手的工作范围内；S2、推手根据扫码装置反馈的信息选择性地将轮胎推至对应地的分拣区；S3、机械抓手在桥式起重机的带动下将分拣区的待轮胎抓取放入放箱区的箱内并进行码垛；或推手将分拣区的轮胎推入放箱区的箱内，然后机械抓手对箱内的轮胎进行码垛；S4、码垛后的实箱沿下方设置的传送带移动至运箱区输出，在球式转向台的作用下，空箱在运箱区改变方向并移动至放箱区补位。The sorting method using the above-mentioned tire sorting system includes the following steps: S1. The main conveying line moves the tires identified by the scanning device to the working range of the pusher; S2. The pusher selectively moves the tire according to the information fed back by the scanning device Push the tires to the corresponding sorting area; S3, the mechanical gripper, driven by the bridge crane, grabs the tires in the sorting area and puts them into the box in the box-putting area for palletizing; or the pusher pushes the tires in the sorting area Push the tires into the box in the box-putting area, and then the mechanical gripper will stack the tires in the box; S4, the stacked solid box moves along the conveyor belt set below to the box-carrying area for output, and the ball steering table Under the action, the empty box changes direction in the box transport area and moves to the box release area to make up for it.
轮胎垛搬运装置，包括可前后移动的门式机架、跨接在门式机架上并可左右移动的起重装置、与起重装置依次连接的位于起重装置下方的夹取装置和托起装置；所述夹取装置包括连接柱、及至少两个可沿连接柱径向伸缩的曲面机械抓手，所述曲面机械抓手的形状与轮胎垛的内壁或外壁配合；所述托起装置包括水平支撑台、及至少两个可沿水平支撑台中心展开或收缩的水平托手。The tire stack handling device includes a portal frame that can move forward and backward, a lifting device that is connected to the portal frame and can move left and right, and a clamping device and a pallet that are connected to the lifting device and located below the lifting device in sequence. Lifting device; the clamping device includes a connecting column, and at least two curved surface mechanical grippers that can expand and contract radially along the connecting column, and the shape of the curved surface mechanical gripper is matched with the inner wall or outer wall of the tire pile; the holding The device includes a horizontal support platform and at least two horizontal support handles that can be expanded or contracted along the center of the horizontal support platform.
对于直径较大或较高的轮胎，由于质量较大，如果单纯的使用底部托手很难实现轮胎垛的搬运，影响生产效率。本申请不仅设计了从轮胎垛底部托起的托起装置，还设有夹取轮胎垛的夹取装置，防止在托起过程中位于高位的轮胎发生滑移，确保搬运过程中轮胎垛保持其形状稳定。本申请的轮胎垛搬运装置不仅可以对小规格轮胎垛搬运，还可以对大规格轮胎进行搬运，对于不同规格的轮胎，只需调节水平托手展开后的大小以及曲面机械抓手的伸缩程度即可。曲面机械抓手的形状与轮胎垛的内壁或外壁配合，使二者的接触面积更大，产生的摩擦阻力更大，不仅可以有效防止轮胎滑移，还可以分担一部分轮胎垛的重力。For tires with larger diameters or higher heights, due to their high quality, it is difficult to carry tire stacks simply by using the bottom support, which affects production efficiency. This application not only designs a lifting device for lifting from the bottom of the tire stack, but also has a clamping device for clamping the tire stack to prevent the tires at a high position from slipping during the lifting process and ensure that the tire stack maintains its original position during the handling process. Shape stable. The tire stack handling device of the present application can not only transport small-size tire stacks, but also large-size tires. For tires of different specifications, it is only necessary to adjust the size of the horizontal support after unfolding and the degree of expansion and contraction of the curved mechanical gripper. Can. The shape of the curved mechanical gripper cooperates with the inner wall or outer wall of the tire stack, so that the contact area between the two is larger, and the friction resistance generated is greater, which can not only effectively prevent the tire from slipping, but also share part of the gravity of the tire stack.
进一步，所述连接柱和曲面机械抓手之间设有连杆，所述连杆一端沿连接柱的轴向运动，一端与曲面机械抓手连接并沿连接柱的径向运动。通过连杆来控制曲面机械抓手的伸缩，不仅控制灵活度更好，而且可以减小夹取装置的大小。最好使连杆与曲面机械抓手可拆卸的连接，这样可以针对不同规格的轮胎垛，换取对于规格的曲面机械抓手，以使曲面机械抓手与轮胎垛之间的接触面积更大，从而更好地夹取轮胎垛。Further, a connecting rod is provided between the connecting column and the curved mechanical gripper, one end of the connecting rod moves along the axial direction of the connecting column, and the other end is connected with the curved surface mechanical gripper and moves along the radial direction of the connecting column. The expansion and contraction of the curved surface mechanical gripper is controlled by the connecting rod, which not only has better control flexibility, but also can reduce the size of the gripping device. It is better to detachably connect the connecting rod and the curved surface mechanical gripper, so that the different specifications of the tire stack can be exchanged for the curved surface mechanical gripper of the specification, so that the contact area between the curved surface mechanical gripper and the tire stack is larger. The result is better gripping of tire stacks.
进一步，所述曲面机械抓手的长度≥轮胎垛的高度，这样可以使轮胎垛中的所有轮胎都受到曲面机械抓手的夹持，防止高位的轮胎滑移。Further, the length of the curved surface mechanical gripper is greater than or equal to the height of the tire stack, so that all tires in the tire stack can be clamped by the curved surface mechanical gripper, preventing high-position tires from slipping.
进一步，所述曲面机械抓手的下端与水平托手位于同一水平面。这样可以使轮胎垛中的所有轮胎都受到曲面机械抓手的夹持，防止低位的轮胎滑移。Further, the lower end of the curved mechanical gripper is located at the same level as the horizontal support handle. In this way, all the tires in the tire pile are clamped by the curved mechanical gripper, preventing low-position tires from slipping.
进一步，所述曲面机械抓手的数量为3个；所述连接柱为三棱柱形。当轮胎垛的三个区域受到曲面机械抓手的夹取时，轮胎垛的受力更均匀，运输过程中更稳当。Further, the number of the curved mechanical grippers is three; the connecting columns are in the shape of triangular prisms. When the three areas of the tire stack are gripped by the curved mechanical gripper, the force on the tire stack is more uniform and the transportation process is more stable.
进一步，所述曲面机械抓手的与垛的配合面上设有阻力层。所述阻力层可以增加曲面机械抓手与轮胎之间的摩擦力，进一步分担托起装置所受到的轮胎垛重力，延迟下部托起装置的使用寿命。进一步，所述阻力层由橡胶构成，此时在运输过程中，曲面机械抓手与轮胎垛之间的摩擦力达到最大。Further, a resistance layer is provided on the mating surface of the curved mechanical gripper with the stack. The resistance layer can increase the frictional force between the curved mechanical gripper and the tire, further share the weight of the tire stack on the lifting device, and delay the service life of the lower lifting device. Further, the resistance layer is made of rubber. At this time, during transportation, the frictional force between the curved mechanical gripper and the tire pile reaches the maximum.
进一步，所述水平托手的数量为3个且互成120°的夹角。这样设置的水平托收不仅收缩和展开灵活，而且在保证较大支撑力的同时降低了托起装置的尺寸。Further, the number of the horizontal support handles is 3 and forms an angle of 120° with each other. The horizontal storage provided in this way not only shrinks and expands flexibly, but also reduces the size of the lifting device while ensuring a large supporting force.
进一步，所述水平托手展开后，其长度≥轮胎宽度的二分之一。这样可使水平托手与底部轮胎之间的接触面积增大，水平托手的受力更小更均匀，使用寿命更长。最好使水平托手与水平支撑台之间可拆卸的连接，这样可以针对不同规格的轮胎垛，换取对于规格的水平托手，以使水平托手与轮胎垛之间的接触面积更大，从而更好地托起轮胎垛。所述宽度是指轮胎的内径和外径之差。Further, after the horizontal support handle is unfolded, its length is ≥ 1/2 of the width of the tire. This can increase the contact area between the horizontal support and the bottom tire, the force of the horizontal support is smaller and more uniform, and the service life is longer. It is better to make the detachable connection between the horizontal support and the horizontal support platform, so that the tire stacks of different specifications can be exchanged for the horizontal support of the specifications, so that the contact area between the horizontal support and the tire stack is larger. Thereby supporting the stack of tires better. The width refers to the difference between the inner and outer diameters of the tire.
轮胎垛解垛装置，包括输入辊道和输出辊道，在输入辊道和输出辊道之间依次设有升降装置、位于升降装置上方的伸缩推进装置；所述升降装置包括升降平台、及控制升降平台升降的液压装置；所述伸缩推进装置包括活塞杆气缸、限位部件及受活塞杆气缸控制的朝向或背向限位部件运动的伸缩端面。首先，升降装置将轮胎垛向上运输至伸缩端面的运动范围内，在限位部件的作用下，不仅可以精确将轮胎垛运输至限位部件和伸缩端面之间，还可以防止上升过程中轮胎垛中的轮胎发生滑移。然后伸缩端面朝向限位部件运动，从而把轮胎垛上方的轮胎解垛下来，再通过输出辊道输送到后续环节中，具有高效率、低成本、简单维护、适应性强等特点。The tire stacking and unstacking device includes an input roller table and an output roller table, and a lifting device and a telescopic propulsion device located above the lifting device are sequentially arranged between the input roller table and the output roller table; the lifting device includes a lifting platform, and a control A hydraulic device for raising and lowering the lifting platform; the telescopic propulsion device includes a piston rod cylinder, a limiting component, and a telescopic end surface controlled by the piston rod cylinder to move toward or away from the limiting component. First of all, the lifting device transports the stack of tires upwards to the range of movement of the telescopic end face. Under the action of the stopper, it can not only accurately transport the stack of tires between the stopper and the telescopic end face, but also prevent the stack of tires from falling during the ascent process. The tires slipped. Then the telescopic end face moves towards the limit part, so that the tires above the tire stack are unstacked, and then transported to the subsequent link through the output roller table, which has the characteristics of high efficiency, low cost, simple maintenance, and strong adaptability.
进一步，所述活塞杆气缸的活塞杆穿过上设有套筒和限位挡块，活塞杆的一端与伸缩端面紧固连接。通过限位挡块可以更精确地控制伸缩端面与限位部件之间的空间大小，因此可以对多种尺寸的轮胎垛进行解垛，应用范围更广。Further, the piston rod of the piston rod cylinder is provided with a sleeve and a limit stopper, and one end of the piston rod is tightly connected with the telescopic end surface. The size of the space between the telescopic end surface and the limiting part can be controlled more precisely through the limit stopper, so tire stacks of various sizes can be destacked, and the application range is wider.
进一步，所述活塞杆气缸具有两个活塞杆。双活塞杆气缸控制的伸缩端面的在解垛过程中受力更为均匀，可以更为精准地将轮胎垛上层的轮胎推送至输出辊道。Further, the piston rod cylinder has two piston rods. The telescopic end face controlled by the double-piston rod cylinder is more evenly stressed during the unstacking process, and can more accurately push the tires on the upper layer of the tire stack to the output roller table.
进一步，所述升降装置还包括底座、设于底座和升降平台之间的伸缩支架，所述液压装置控制伸缩支架的伸缩。进一步，所述伸缩支架为X形，所述底座的相向内侧和升降平台的相向内侧设有滑动轨道，所述伸缩支架的一侧沿底座和升降平台转动，一侧沿滑动轨道滑动。采用上述控制原理的升降平台，不仅结构简单，占地面积小，而且受压能力强。Further, the lifting device also includes a base, and a telescopic support arranged between the base and the lifting platform, and the hydraulic device controls the expansion and contraction of the telescopic support. Further, the telescopic support is X-shaped, and sliding tracks are provided on the opposite inner side of the base and the lifting platform, one side of the telescopic support rotates along the base and the lifting platform, and one side slides along the sliding track. The lifting platform using the above control principle not only has a simple structure, a small footprint, but also has a strong pressure bearing capacity.
进一步，所述伸缩推进装置与输出辊道之间还设有输送装置。输送装置相当于增加了伸缩推进装置与输出辊道之间的缓冲空间，防止解垛后的轮胎在输出辊道堆积，影响解垛的效率。进一步，所述输送装置为输出端与输出辊道入口端连接的皮带传送带。Further, a conveying device is also provided between the telescopic propulsion device and the output roller table. The conveying device is equivalent to increasing the buffer space between the telescopic propulsion device and the output roller table, preventing the unstacked tires from accumulating on the output roller table, which affects the efficiency of unstacking. Further, the conveying device is a belt conveyor belt whose output end is connected with the entrance end of the output roller table.
进一步，所述伸缩推进装置与输送装置之间还设有高度限制装置，这样设置的目的是确保将每个轮胎单独解垛。Further, a height limiting device is provided between the telescopic propelling device and the conveying device, and the purpose of such setting is to ensure that each tire is unstacked separately.
轮胎垛智能解垛系统，包括依次连接的输箱装置、轮胎垛搬运装置的轮胎垛解垛装置；所述输箱装置设有扫码装置；所述轮胎垛搬运装置包括可前后移动的门式机架、跨接在门式机架上并可左右移动的起重装置、与起重装置依次连接的位于起重装置下方的夹取装置和托起装置；所述夹取装置包括连接柱、及至少两个可沿连接柱径向伸缩的曲面机械抓手，所述曲面机械抓手的形状与轮胎垛的内壁或外壁配合；所述托起装置包括水平支撑台、及至少两个可沿水平支撑台中心展开或收缩的水平托手；所述轮胎垛解垛装置包括输入辊道和输出辊道，在输入辊道和输出辊道之间依次设有升降装置、位于升降装置上方的伸缩推进装置；所述升降装置包括升降平台、及控制升降平台升降的液压装置；所述伸缩推进装置包括活塞杆气缸、限位部件及受活塞杆气缸控制的朝向或背向限位部件运动的伸缩端面。The intelligent unstacking system for tire stacks includes a sequentially connected container conveying device and a tire stack unstacking device for a tire stack handling device; the box transporting device is provided with a code scanning device; the tire stack handling device includes a door-type The frame, the lifting device that is connected to the portal frame and can move left and right, the clamping device and the holding device below the lifting device that are sequentially connected with the lifting device; the clamping device includes a connecting column, And at least two curved surface mechanical grippers that can expand and contract radially along the connecting column, the shape of the curved surface mechanical grippers is matched with the inner wall or outer wall of the tire stack; the lifting device includes a horizontal support platform, and at least two The horizontal supporting handle that expands or shrinks in the center of the horizontal support table; the tire stack unstacking device includes an input roller table and an output roller table, and a lifting device is arranged between the input roller table and the output roller table in sequence, and a telescopic conveyor located above the lifting device Propelling device; the lifting device includes a lifting platform, and a hydraulic device that controls the lifting platform; the telescopic propulsion device includes a piston rod cylinder, a limiting component, and a telescopic mechanism that moves toward or away from the limiting component controlled by the piston rod cylinder. end face.
对于直径较大或较高的轮胎，由于质量较大，如果单纯的使用底部托手很难实现轮胎垛的搬运，影响生产效率。本申请不仅设计了从轮胎垛底部托起的托起装置，还设有夹取轮胎垛的夹取装置，防止在托起过程中位于高位的轮胎发生滑移，确保搬运过程中轮胎垛保持及形状稳定。本申请的轮胎垛搬运装置不仅可以对小规格轮胎垛搬运，还可以对大规格轮胎进行搬运，对于不同规格的轮胎，只需调节水平托手展开后的大小以及曲面机械抓手的伸缩程度即可。曲面机械抓手的形状与轮胎垛的内壁或外壁配合，使二者的接触面积更大，产生的摩擦阻力更大，不仅可以有效防止轮胎滑移，还可以分担一部分轮胎垛的重力。For tires with larger diameters or higher heights, due to their high quality, it is difficult to carry tire stacks simply by using the bottom support, which affects production efficiency. This application not only designs a lifting device for lifting from the bottom of the tire stack, but also has a clamping device for clamping the tire stack to prevent the tires at a high position from slipping during the lifting process and ensure that the tire stack is kept in place during the handling process. Shape stable. The tire stack handling device of the present application can not only transport small-size tire stacks, but also large-size tires. For tires of different specifications, it is only necessary to adjust the size of the horizontal support after unfolding and the degree of expansion and contraction of the curved mechanical gripper. Can. The shape of the curved mechanical gripper cooperates with the inner wall or outer wall of the tire stack, so that the contact area between the two is larger, and the friction resistance generated is greater, which can not only effectively prevent the tire from slipping, but also share part of the gravity of the tire stack.
升降装置将轮胎垛向上运输至伸缩端面的运动范围内，在限位部件的作用下，不仅可以精确将轮胎垛运输至限位部件和伸缩端面之间，还可以防止上升过程中垛中的轮胎发生滑移。然后伸缩端面朝向限位部件运动，从而把轮胎垛上方的轮胎解垛下来，再通过输出辊道输送到作业工位上，具有高效率、低成本、简单维护、适应性强等特点。The lifting device transports the stack of tires up to the range of movement of the telescopic end surface. Under the action of the limiting part, it can not only accurately transport the stack of tires between the limiting part and the telescopic end surface, but also prevent the tires in the stack during the rising process. Slip occurs. Then the telescopic end face moves towards the limit part, so that the tires above the tire stack are unstacked, and then transported to the work station through the output roller table, which has the characteristics of high efficiency, low cost, simple maintenance, and strong adaptability.
进一步，所述连接柱和曲面机械抓手之间设有连杆，所述连杆沿一端沿连接柱的轴向运动，一端与曲面机械抓手连接并沿连接柱的径向运动。通过连杆来控制曲面机械抓手的伸缩，不仅控制灵活度更好，而且可以减小夹取装置的大小。最好使连杆与曲面机械抓手可拆卸的连接，这样可以针对不同规格的轮胎垛，换取对于规格的曲面机械抓手，以使曲面机械抓手与轮胎垛之间的接触面积更大，从而更好地夹取轮胎垛。Further, a connecting rod is provided between the connecting column and the curved surface mechanical gripper, one end of the connecting rod moves along the axial direction of the connecting column, and one end is connected with the curved surface mechanical gripper and moves along the radial direction of the connecting column. The expansion and contraction of the curved surface mechanical gripper is controlled by the connecting rod, which not only has better control flexibility, but also can reduce the size of the gripping device. It is better to detachably connect the connecting rod and the curved surface mechanical gripper, so that the different specifications of the tire stack can be exchanged for the curved surface mechanical gripper of the specification, so that the contact area between the curved surface mechanical gripper and the tire stack is larger. The result is better gripping of tire stacks.
进一步，所述曲面机械抓手的长度≥轮胎垛的高度，这样可以使轮胎垛中的所有轮胎都受到曲面机械抓手的夹持，防止高位的轮胎滑移。Further, the length of the curved surface mechanical gripper is greater than or equal to the height of the tire stack, so that all tires in the tire stack can be clamped by the curved surface mechanical gripper, preventing high-position tires from slipping.
进一步，所述曲面机械抓手的下端与水平托手位于同一水平面。这样可以使轮胎垛中的所有轮胎都受到曲面机械抓手的夹持，防止低位的轮胎滑移。Further, the lower end of the curved mechanical gripper is located at the same level as the horizontal support handle. In this way, all the tires in the tire pile are clamped by the curved mechanical gripper, preventing low-position tires from slipping.
进一步，所述曲面机械抓手的数量为3个；所述连接柱为三棱柱形。当轮胎垛的三个区域受到曲面机械抓手的夹取时，轮胎垛的受力更均匀，运输过程中更稳当。Further, the number of the curved mechanical grippers is three; the connecting columns are in the shape of triangular prisms. When the three areas of the tire stack are gripped by the curved mechanical gripper, the force on the tire stack is more uniform and the transportation process is more stable.
进一步，所述曲面机械抓手的与轮胎的配合面上设有阻力层。所述阻力层可以增加曲面机械抓手与轮胎垛之间的摩擦力，进一步分担托起装置所受到的轮胎垛重力，延迟下部托起装置的使用寿命。进一步，所述阻力层由橡胶构成，此时在运输过程中，曲面机械抓手与轮胎垛之间的摩擦力达到最大。Further, a resistance layer is provided on the mating surface of the curved mechanical gripper with the tire. The resistance layer can increase the friction between the curved mechanical gripper and the tire stack, further share the weight of the tire stack on the lifting device, and delay the service life of the lower lifting device. Further, the resistance layer is made of rubber. At this time, during transportation, the frictional force between the curved mechanical gripper and the tire pile reaches the maximum.
进一步，所述水平托手的数量为3个且互成120°的夹角。这样设置的水平托收不仅收缩和展开灵活，而且在保证较大支撑力的同时降低了托起装置的尺寸。Further, the number of the horizontal support handles is 3 and forms an angle of 120° with each other. The horizontal storage provided in this way not only shrinks and expands flexibly, but also reduces the size of the lifting device while ensuring a large supporting force.
进一步，所述水平托手展开后，其长度≥轮胎宽度的二分之一。这样可使水平托手与底部轮胎之间的接触面积增大，水平托手的受力更小更均匀，使用寿命更长。最好使水平托手与水平支撑台之间可拆卸的连接，这样可以针对不同规格的轮胎垛，换取对于规格的水平托手，以使水平托手与轮胎垛之间的接触面积更大，从而更好地托起轮胎垛。所述宽度是指轮胎的内径和外径之差。Further, after the horizontal support handle is unfolded, its length is ≥ 1/2 of the width of the tire. This can increase the contact area between the horizontal support and the bottom tire, the force of the horizontal support is smaller and more uniform, and the service life is longer. It is better to make the detachable connection between the horizontal support and the horizontal support platform, so that the tire stacks of different specifications can be exchanged for the horizontal support of the specifications, so that the contact area between the horizontal support and the tire stack is larger. Thereby supporting the stack of tires better. The width refers to the difference between the inner and outer diameters of the tire.
进一步，所述活塞杆气缸的活塞杆穿过上设有套筒和限位挡块，活塞杆的一端与伸缩端面紧固连接。通过限位挡块可以更精确地控制伸缩端面与限位部件之间的空间大小，因此可以对多种尺寸的轮胎垛进行解垛，应用范围更广。Further, the piston rod of the piston rod cylinder is provided with a sleeve and a limit stopper, and one end of the piston rod is tightly connected with the telescopic end surface. The size of the space between the telescopic end surface and the limiting part can be controlled more precisely through the limit stopper, so tire stacks of various sizes can be destacked, and the application range is wider.
进一步，所述活塞杆气缸具有两个活塞杆。双活塞杆气缸控制的伸缩端面的在解垛过程中受力更为均匀，可以更为精准地将轮胎垛上层的轮胎推送至输出辊道。Further, the piston rod cylinder has two piston rods. The telescopic end face controlled by the double-piston rod cylinder is more evenly stressed during the unstacking process, and can more accurately push the tires on the upper layer of the tire stack to the output roller table.
进一步，所述升降装置还包括底座、设于底座和升降平台之间的伸缩支架，所述液压装置控制伸缩支架的伸缩。进一步，所述支架为X形，所述底座的相向内侧和升降平台的相向内侧设有滑动轨道，所述支架的一侧沿底座和升降平台转动，一侧沿滑动轨道滑动。采用上述控制原理的升降平台，不仅结构简单，占地面积小，而且受压能力强。Further, the lifting device also includes a base, and a telescopic support arranged between the base and the lifting platform, and the hydraulic device controls the expansion and contraction of the telescopic support. Further, the support is X-shaped, and sliding tracks are provided on the opposite inner side of the base and the lifting platform, one side of the support rotates along the base and the lifting platform, and one side slides along the sliding track. The lifting platform using the above control principle not only has a simple structure, a small footprint, but also has a strong pressure bearing capacity.
进一步，所述伸缩推进装置与输出辊道之间还设有输送装置。输送装置相当于增加了伸缩推进装置与输出辊道之间的缓冲空间，防止解垛后的轮胎在输出辊道堆积，影响解垛的效率。进一步，所述输送装置为输出端与输出辊道入口端连接的皮带传送带。Further, a conveying device is also provided between the telescopic propulsion device and the output roller table. The conveying device is equivalent to increasing the buffer space between the telescopic propulsion device and the output roller table, preventing the unstacked tires from accumulating on the output roller table, which affects the efficiency of unstacking. Further, the conveying device is a belt conveyor belt whose output end is connected with the entrance end of the output roller table.
进一步，所述伸缩推进装置与输送装置之间还设有高度限制装置，这样设置的目的是确保将每个轮胎单独解垛。Further, a height limiting device is provided between the telescopic propelling device and the conveying device, and the purpose of such setting is to ensure that each tire is unstacked separately.
智能化轮胎仓储系统，包括大批量轮胎分拣系统和小批量轮胎分拣系统，所述大批量轮胎分拣系统包括依次连接的大批量传输系统、堆垛系统、箱体运输系统、轮胎垛智能解垛系统及装车系统，所述小批量轮胎分拣系统包括依次连接的小批量传输系统、箱体运输系统、轮胎垛智能解垛系统及装车系统；还包括信息管理系统，轮胎和/或箱体上设有识别码，至少在轮胎垛智能解垛系统处设有用于识别所述识别码的扫码装置，所述扫码装置将识别结果反馈给信息管理系统。根据轮胎的数量和品种，大批量轮胎分拣系统和小批量轮胎分拣系统可以同时进行或分开进行。所设置的扫码装置可以识别出轮胎的种类和型号，而信息管理系统集成扫码装置采集的信息并智能化控制对应系统的操作，各系统协同合作，实现不同批量和品种的轮胎的合理管理。The intelligent tire storage system includes a large-volume tire sorting system and a small-volume tire sorting system. The large-volume tire sorting system includes a sequentially connected large-volume transmission system, stacking system, box transportation system, and intelligent tire stacking system. Depalletizing system and loading system, the small-batch tire sorting system includes sequentially connected small-batch transmission system, box transport system, tire stack intelligent depalletizing system and loading system; also includes information management system, tire and/or Or an identification code is provided on the box, and a code scanning device for identifying the identification code is provided at least at the tire stacking intelligent depalletizing system, and the code scanning device feeds back the identification result to the information management system. According to the quantity and variety of tires, the large-volume tire sorting system and the small-volume tire sorting system can be carried out simultaneously or separately. The installed code scanning device can identify the type and model of the tire, and the information management system integrates the information collected by the code scanning device and intelligently controls the operation of the corresponding system. All systems cooperate to realize the reasonable management of tires of different batches and varieties. .
进一步，所述小批量传输系统设有螺旋传送带和轮胎分拣系统，所述轮胎分拣系统将从螺旋传送带传输而来的轮胎抓取放入箱体并堆成垛；所述小批量运输系统还设有次品回收口。当轮胎的数量较少时，可采用小批量轮胎分拣系统。所设置的回收口不仅可以回收从小批量轮胎分拣系统处传输而来的轮胎，也可以回收从大批量轮胎分拣系统处传输而来的轮胎。螺旋传送带利用轮胎自身的重力来将轮胎运输至轮胎分拣系统的工作范围内，不仅减少了动力成本，而且运输时间短，提升了仓储的效率。当然，也可以在小批量轮胎分拣系统处设置扫码装置，实现不同品种轮胎的分类仓储和提升后续的解垛效率。Further, the small-batch transmission system is provided with a spiral conveyor belt and a tire sorting system, and the tire sorting system grabs the tires transmitted from the spiral conveyor belt and puts them into boxes and stacks them; the small-batch transportation system There is also a defective product recycling port. When the number of tires is small, a small batch tire sorting system can be used. The set recycling port can not only recycle the tires transferred from the small-batch tire sorting system, but also recycle the tires transferred from the large-batch tire sorting system. The spiral conveyor belt uses the gravity of the tire itself to transport the tire to the working range of the tire sorting system, which not only reduces the power cost, but also shortens the transportation time and improves the efficiency of storage. Of course, a code scanning device can also be installed at the small batch tire sorting system to realize the classified storage of different types of tires and improve the efficiency of subsequent depalletizing.
进一步，所述大批量传输系统设有螺旋传送带和斜坡传送带，所述螺旋传送带将轮胎的高度降低至斜坡传送带的高位端。螺旋传送带和斜坡传送带均利用轮胎自身的重力来将轮胎运输至堆垛系统，不仅减少了动力成本，而且运输时间短，提升了仓储的效率。Further, the large batch transmission system is provided with a spiral conveyor belt and a slope conveyor belt, and the spiral conveyor belt reduces the height of the tires to the high end of the slope conveyor belt. Both the spiral conveyor belt and the slope conveyor belt use the gravity of the tire itself to transport the tire to the stacking system, which not only reduces the power cost, but also shortens the transportation time and improves the efficiency of storage.
进一步，所述智能化轮胎仓储系统包括n个大批量轮胎分拣系统，对应的n个大批量传输系统共用一个入口且入口处设有扫码装置，其中，n≥2。多个大批量轮胎分拣系统不仅可以进一步提升仓储效率。所述n个大批量轮胎分拣系统共用一个入口且入口处设有扫码装置。通过设置扫码装置，将不同品种和型号的轮胎传输至不同的堆垛系统进行分类管理，在很大程度上提升了后续的堆垛效率和解垛效率。Further, the intelligent tire storage system includes n large-batch tire sorting systems, and the corresponding n large-batch transmission systems share one entrance and a code scanning device is installed at the entrance, where n≥2. Multiple high-volume tire sorting systems can not only further improve storage efficiency. The n large-volume tire sorting systems share one entrance and a code scanning device is provided at the entrance. By setting up a code scanning device, different types and types of tires are transferred to different stacking systems for classified management, which greatly improves the efficiency of subsequent stacking and destacking.
进一步，相邻的斜坡传送带组合为双层斜坡传送带，每一层斜坡传送带的高位端均与螺旋传送带相连接，每一层斜坡传送带的低位端连接有对应的堆垛系统、箱体运输系统和轮胎垛智能解垛系统。采用双层斜坡传送带可以进一步节约空间，提升堆垛系统的工作效率。Further, the adjacent slope conveyor belts are combined into a double-layer slope conveyor belt, the high end of each layer of slope conveyor belt is connected with the spiral conveyor belt, and the low end of each layer of slope conveyor belt is connected with the corresponding stacking system, box transportation system and Intelligent unstacking system for tire stacks. The use of double-layer slope conveyor belt can further save space and improve the working efficiency of the stacking system.
进一步，所述堆垛系统包括轮胎垛堆垛装置、轮胎垛搬运装置，所述轮胎垛堆垛装置将轮胎堆成垛，所述轮胎垛搬运装置将轮胎垛放入箱体。通过轮胎垛堆垛装置将轮胎堆成码垛管理，可以节约占地资源，轮胎垛搬运装置不仅可以将轮胎垛放入箱体，还可以将装满轮胎垛的箱体叠放，进一步节约占地资源。Further, the stacking system includes a tire stack stacking device and a tire stack handling device, the tire stack stacking device stacks the tires into stacks, and the tire stack handling device puts the tire stacks into the box. The tire stacking device can stack tires into pallets for management, which can save land occupation resources. The tire stack handling device can not only put tire stacks into the box, but also stack the boxes full of tire stacks, further saving land occupation. land resources.
进一步，还包括定位装置，所述轮胎垛堆垛装置设置于传送带上方，根据定位装置反馈的信息将轮胎抓起成垛；成垛后，所述定位装置将信息反馈给轮胎垛搬运装置，所述轮胎垛搬运装置抓取垛并装箱；这样设置可以使轮胎垛的形成和搬运更智能化，人力的介入更少，生产效率更高。Further, a positioning device is also included, the tire stacking device is arranged above the conveyor belt, and the tires are picked up into stacks according to the information fed back by the positioning device; after stacking, the positioning device feeds back the information to the tire stack handling device, so The above-mentioned tire stack handling device grabs the stack and packs the stack; this arrangement can make the formation and handling of the tire stack more intelligent, with less human intervention and higher production efficiency.
进一步，所述轮胎垛智能解垛系统包括轮胎垛搬运装置和轮胎垛解垛装置，所述轮胎垛搬运装置根据信息管理系统的指令来抓取不同品种的垛。信息管理系统将装车系统所需的轮胎信息发送给扫码装置，根据扫码装置的扫码结果确保轮胎垛搬运装置抓取到正确的轮胎。Further, the tire stack intelligent unstacking system includes a tire stack handling device and a tire stack unstacking device, and the tire stack handling device grabs different types of stacks according to the instructions of the information management system. The information management system sends the tire information required by the loading system to the code scanning device, and according to the scanning result of the code scanning device, it is ensured that the tire stack handling device grabs the correct tire.
进一步，所述箱体运输系统采用起重机运输箱体。Further, the box transport system uses a crane to transport the box.
应用上述智能化轮胎仓储系统的仓储方法，包括小批量仓储方法和大批量仓储方法，其中，小批量仓储方法包括以下步骤：S1、小批量运输系统中的轮胎分拣系统抓取从螺旋传送带传输而来的轮胎入箱体并堆成垛；S2、起重机将装有轮胎垛的箱体移动至轮胎垛智能解垛系统；S3、轮胎垛智能解垛系统处的轮胎垛搬运装置抓取不同品种的轮胎垛并由轮胎垛解垛装置解垛；S4、将解垛后的轮胎进行装车；S5、起重机将空箱移动至轮胎分拣系统；大批量仓储方法包括以下步骤：M1、大批量运输系统中的螺旋传送带将轮胎的高度降低至斜坡传送带的高位端，然后向斜坡传送带的低位端运动；M2、根据定位装置反馈的信息，轮胎垛堆垛装置将轮胎堆成垛，轮胎垛搬运装置抓取垛并放入箱体；M3、起重机将装有轮胎垛的箱体移动至轮胎垛智能解垛系统；M4、轮胎垛智能解垛系统处的轮胎垛搬运装置抓取垛并由轮胎垛解垛装置解垛；M5、将解垛后的轮胎进行装车；M6、起重机将空箱移动至堆垛系统；在大批量运输系统、小批量运输系统、轮胎垛智能解垛系统处均设有扫码装置，扫码装置扫描轮胎和/箱体上的识别码并将识别结果反馈给信息管理系统，轮胎垛搬运装置和轮胎分拣系统根据信息管理系统下达的指令进行操作。The storage method applying the above-mentioned intelligent tire storage system includes a small-batch storage method and a large-batch storage method, wherein the small-batch storage method includes the following steps: S1. The tire sorting system in the small-batch transportation system grabs and transports tires from the spiral conveyor belt The coming tires are put into the box and stacked into stacks; S2, the crane moves the box with the tire stacks to the tire stack intelligent unstacking system; S3, the tire stack handling device at the tire stack intelligent unstacking system grabs different varieties The stack of tires is destacked by the tire stack destacking device; S4, loading the tires after destacking; S5, the crane moves the empty box to the tire sorting system; the large batch storage method includes the following steps: M1, large batch The spiral conveyor belt in the transportation system lowers the height of the tires to the high end of the slope conveyor belt, and then moves to the low end of the slope conveyor belt; M2, according to the information fed back by the positioning device, the tire stacking device stacks the tires into stacks, and the tire stacks are transported The device grabs the stack and puts it into the box; M3, the crane moves the box with the tire stack to the tire stack intelligent unstacking system; M4, the tire stack handling device at the tire stack intelligent unstacking system grabs the stack and transports the stack by the tire Depalletizing device for depalletizing; M5, loading tires after depalletizing; M6, crane moving empty boxes to the stacking system; in the large batch transportation system, small batch transportation system, and tire stacking intelligent depalletizing system. There is a code scanning device, which scans the identification code on the tire and/or box and feeds back the identification result to the information management system. The tire stack handling device and the tire sorting system operate according to the instructions issued by the information management system.
附图说明Description of drawings
图1位轮胎分拣系统的结构示意图。Figure 1 Schematic diagram of the tire sorting system.
图2为轮胎垛搬运装置的结构示意图。Fig. 2 is a structural schematic diagram of the tire stack handling device.
图3为图2中拖起装置的结构示意图。Fig. 3 is a structural schematic diagram of the lifting device in Fig. 2 .
图4为轮胎垛解垛装置的结构示意图。Fig. 4 is a structural schematic diagram of a tire stack unstacking device.
图5为图4中升降装置的结构示意图。Fig. 5 is a structural schematic diagram of the lifting device in Fig. 4 .
图6为智能化轮胎垛解垛系统的结构示意图。Fig. 6 is a structural schematic diagram of an intelligent tire stacking and destacking system.
图7为智能化轮胎仓储系统的结构示意图。Fig. 7 is a schematic structural diagram of an intelligent tire storage system.
图8为小批量运输系统及轮胎分拣系统的结构示意图。Fig. 8 is a structural schematic diagram of the small-batch transportation system and the tire sorting system.
图9为大批量运输系统的结构示意图。Fig. 9 is a structural schematic diagram of the mass transportation system.
具体实施方式detailed description
如图1所示的轮胎分拣系统20，包括输送主线21、分拣机26和在输送主线21的两侧设置的输送支线22，每条输送支线22包括依次设置的分拣区23、放箱区24和运箱区25；所述输送主线21上设有扫码装置7和多个液压控制的推手210，所述推手210根据扫码装置7反馈的信息选择性地将轮胎推至对应地的分拣区23，而未被推入分拣区23的轮胎则从输送主线上的回收口211输出。所述放箱区24中箱子的高度≤分拣区23的高度，便于推手210将分拣区23的轮胎推入放箱区24的箱内。所述分拣机26包括机械抓手260和桥式起重机261，所述分拣机26将分拣区23的轮胎抓取放入放箱区的箱内并码垛。放箱区24中每个箱子下方的传送带相互独立；两侧的运箱区25形成U形或方形结构，运箱区25设有球式转向台250。The tire sorting system 20 shown in Figure 1 comprises a conveying main line 21, a sorter 26, and conveying branch lines 22 arranged on both sides of the conveying main line 21, and each conveying branch line 22 includes a sorting area 23 arranged in sequence, The box area 24 and the box area 25; the conveying main line 21 is provided with a code scanning device 7 and a plurality of hydraulically controlled push hands 210, and the push hands 210 selectively push the tires to corresponding positions according to the information fed back by the code scanning device 7. The sorting area 23 on the ground, and the tires that are not pushed into the sorting area 23 are output from the recovery port 211 on the conveying main line. The height of the boxes in the box-putting area 24≤the height of the sorting area 23 is convenient for the pusher 210 to push the tires in the sorting area 23 into the box in the box-putting area 24. The sorting machine 26 includes a mechanical gripper 260 and a bridge crane 261, and the sorting machine 26 grabs the tires in the sorting area 23 and puts them into boxes in the box-putting area and stacks them. The conveyor belts below each case in the case area 24 are independent of each other; the case area 25 on both sides forms a U-shaped or square structure, and the case area 25 is provided with a ball steering platform 250 .
分拣方法，包括以下步骤：S1、输送主线21将经扫码装置7识别后的轮胎移动至推手210的工作范围内；S2、推手210根据扫码装置7反馈的信息选择性地将轮胎推至对应地的分拣区23；S3、机械抓手260在桥式起重机261的带动下将分拣区23的待轮胎抓取放入放箱区24的箱内并进行码垛；若分拣区23挤压较多数量的轮胎，则推手210将分拣区23的轮胎直接推入放箱区24的箱内，然后机械抓手260直接对箱内的轮胎进行码垛；S4、码垛后的实箱沿下方设置的传送带移动至运箱区25输出，在球式转向台250的作用下，空箱在运箱区25改变方向并移动至放箱区24补位。The sorting method includes the following steps: S1, the conveying main line 21 moves the tires identified by the code scanning device 7 to the working range of the pusher 210; S2, the pusher 210 selectively pushes the tires according to the information fed back by the code scanning device 7 To the corresponding sorting area 23; S3, the mechanical gripper 260 is driven by the bridge crane 261 to grab the tires to be placed in the sorting area 23 and put them into the box in the box-putting area 24 and stack them; if sorting District 23 extrudes a large number of tires, then pusher 210 directly pushes the tires in sorting district 23 into the box in box-putting district 24, and then mechanical gripper 260 directly stacks the tires in the box; S4, stacking The final solid case moves to the transport case area 25 output along the conveyor belt provided below, and under the effect of the ball steering platform 250, the empty case changes direction in the case transport area 25 and moves to the case release area 24 to make up for it.
如图2和图3所示的轮胎垛搬运装置9，包括可前后移动的门式机架91、跨接在门式机架91上并可左右移动的起重装置92、与起重装置92依次连接的位于起重装置92下方的夹取装置93和托起装置94；三棱柱形的连接柱930和水平支撑台940通过液压装置上下伸缩。所述夹取装置93包括连接柱930和三个可沿连接柱930径向伸缩的曲面机械抓手931，所述曲面机械抓手931的形状与轮胎垛12的内壁配合，曲面机械抓手931通过连杆932与连接柱930连接，所述连杆932沿一端沿连接柱930的轴向运动，一端与曲面机械抓手931连接并沿连接柱930的径向运动，连杆932与曲面机械抓手931可拆卸的连接；所述曲面机械抓手931的长度≥轮胎垛12的高度，曲面机械抓手931的下端与水平托手940位于同一水平面，所述曲面机械抓手931的与轮胎垛12的配合面上设有由橡胶组成的阻力层。所述托起装置94包括水平支撑台940、及三个可沿水平支撑台940中心展开或收缩的水平托手941，水平托手941与水平支撑台940之间可拆卸的连接，所述水平托手941展开后，其长度≥轮胎宽度的二分之一。The tire pile handling device 9 shown in Figure 2 and Figure 3 includes a portal frame 91 that can move forward and backward, a lifting device 92 that is bridged on the portal frame 91 and can move left and right, and a lifting device 92 The clamping device 93 and the lifting device 94 located below the lifting device 92 are sequentially connected; the triangular prism-shaped connecting column 930 and the horizontal support platform 940 are stretched up and down by hydraulic devices. The clamping device 93 includes a connecting column 930 and three curved mechanical grippers 931 that can expand radially along the connecting column 930. The shape of the curved mechanical grippers 931 matches the inner wall of the tire pile 12. The connecting rod 932 is connected with the connecting column 930. One end of the connecting rod 932 moves axially along the connecting column 930, and one end is connected with the curved surface mechanical gripper 931 and moves radially along the connecting column 930. The connecting rod 932 and the curved surface mechanical The gripper 931 is detachably connected; the length of the curved mechanical gripper 931 is greater than or equal to the height of the tire stack 12, and the lower end of the curved mechanical gripper 931 is located on the same level as the horizontal support handle 940, and the curved mechanical gripper 931 and the tire The mating surface of the stack 12 is provided with a resistance layer consisting of rubber. The lifting device 94 includes a horizontal support platform 940 and three horizontal support handles 941 that can be expanded or contracted along the center of the horizontal support platform 940. The horizontal support handle 941 is detachably connected to the horizontal support platform 940. After the supporting handle 941 is launched, its length is equal to or greater than 1/2 of the width of the tire.
应用上述轮胎垛搬运装置9的堆垛系统3的使用方法如下：S1、定位装置31发现轮胎移动至堆垛装置30下方时反馈信息给堆垛装置30，然后堆垛装置30下降将其抓起码垛；S2、堆垛完成后，定位装置31将信息反馈给起重装置92，然后起重装置92立即运动到反馈位置上；S3、连接柱930和水平支撑台940同时下降，当水平支撑台940下降到轮胎底部时，停止下降，接着连杆5上下移动使曲面机械抓手931沿连接柱930径向展开至与轮胎垛12内壁配合，同时，水平托手941沿水平支撑台940的中心同时展开；S4、然后连接柱930和水平支撑台940向上运动即托起轮胎垛12；S5、门式机架91将轮胎垛12运送到指定位置，然后收起曲面机械抓手931和水平托手941，再移动至下一搬运处。以此类推，反复抓运。The method of using the stacking system 3 using the above-mentioned tire stack handling device 9 is as follows: S1. When the positioning device 31 finds that the tire has moved below the stacking device 30, it feeds back information to the stacking device 30, and then the stacking device 30 descends to pick it up. stacking; S2, after the stacking is completed, the positioning device 31 feeds back the information to the lifting device 92, and then the lifting device 92 immediately moves to the feedback position; S3, the connecting column 930 and the horizontal support platform 940 descend simultaneously, when the horizontal support platform When 940 descends to the bottom of the tire, it stops descending, and then the connecting rod 5 moves up and down to make the curved surface mechanical gripper 931 expand radially along the connecting column 930 to cooperate with the inner wall of the tire pile 12. Expand at the same time; S4, then the connecting column 930 and the horizontal support platform 940 move upwards to hold up the tire stack 12; S5, the portal frame 91 transports the tire stack 12 to the designated position, and then packs up the curved mechanical gripper 931 and the horizontal support Hand 941, and then move to the next handling place. And so on, repeatedly catch luck.
如图4和图5所示的轮胎垛解垛装置50，包括输入辊道51和输出辊道52，在输入辊道51和输出辊道52之间依次设有升降装置、位于升降装置上方的伸缩推进装置、及输送装置55，所述输送装置为皮带传送带；所述升降装置包括底座532、升降平台530、及设于底座532和升降平台530之间的伸缩支架533，所述伸缩支架533为X形，所述底座532的相向内侧和升降平台530的相向内侧设有滑动轨道534，所述伸缩支架533的一侧沿底座532和升降平台530转动，一侧沿滑动轨道534滑动，液压装置531控制伸缩支架533的转动和移动。所述伸缩推进装置包括活塞杆气缸540、限位部件541及受活塞杆气缸540控制的朝向或背向限位部件541运动的伸缩端面542。所述活塞杆气缸540具有两个活塞杆543，活塞杆543上设有套筒544和限位挡块545，活塞杆543的一端与伸缩端面542紧固连接。在输送装置55和伸缩推进装置之间还设有高度限定装置56，所述高度限定装置56为与伸缩端面542平行的档杆，档杆与输送装置55之间的高度差大于一个轮胎的高度，但小于两个轮胎的高度。The tire stacking and unstacking device 50 shown in Figure 4 and Figure 5 includes an input roller table 51 and an output roller table 52, and a lifting device is sequentially provided between the input roller table 51 and the output roller table 52, and the elevator above the lifting device Telescopic propelling device and conveying device 55, described conveying device is a belt conveyor belt; Described elevating device comprises base 532, elevating platform 530 and is located at the telescopic support 533 between base 532 and elevating platform 530, described telescopic support 533 It is X-shaped, and the opposite inner side of the base 532 and the lifting platform 530 is provided with a sliding track 534. One side of the telescopic bracket 533 rotates along the base 532 and the lifting platform 530, and one side slides along the sliding track 534. The device 531 controls the rotation and movement of the telescopic support 533 . The telescopic propulsion device includes a piston rod cylinder 540 , a limiting component 541 , and a telescopic end surface 542 controlled by the piston rod cylinder 540 to move toward or away from the limiting component 541 . The piston rod cylinder 540 has two piston rods 543 on which a sleeve 544 and a limit block 545 are arranged. One end of the piston rod 543 is fastened to the telescopic end surface 542 . A height limiting device 56 is also provided between the conveying device 55 and the telescopic propulsion device, and the height restricting device 56 is a bar parallel to the telescopic end face 542, and the height difference between the bar and the conveying device 55 is greater than the height of a tire , but less than the height of both tires.
轮胎垛解垛装置50的使用方法如下：输入辊道52将轮胎垛12传送至升降平台530的表面，然后液压装置531控制升降平台530上升，然后伸缩端面542朝向限位部件541运动，使最上面的轮胎脱离轮胎垛12并穿过高度限定装置56，然后从输送装置55移动至输出辊道52输出。The method of using the tire stack destacking device 50 is as follows: the input roller table 52 transfers the tire stack 12 to the surface of the lifting platform 530, and then the hydraulic device 531 controls the lifting platform 530 to rise, and then the telescopic end surface 542 moves toward the stopper 541, so that the most The upper tires break away from the tire pile 12 and pass through the height limiting device 56 , and then move from the conveying device 55 to the output roller table 52 for output.
如图6所示的轮胎垛智能解垛系统5，包括依次连接的输箱装置、如图2所示轮胎垛搬运装置9的如图3所示的轮胎垛解垛装置50，其中，输箱装置上设有扫码装置7和球面转向台250。使用方法结合轮胎垛搬运装置9的使用方法和轮胎垛解垛装置50的使用方法即可，此不再赘述。The tire stack intelligent unstacking system 5 as shown in Figure 6 includes a sequentially connected transporting device, a tire stacking device 50 shown in Figure 3 of the tire stack handling device 9 shown in Figure 2, wherein the transporting device 50 shown in Figure 3 The device is provided with a code scanning device 7 and a spherical steering platform 250 . The use method can be combined with the use method of the tire stack conveying device 9 and the use method of the tire stack unstacking device 50 , which will not be repeated here.
应用上述轮胎分拣系统20、轮胎垛搬运装置9、轮胎垛解垛装置50和轮胎垛智能解垛系统5的智能化轮胎仓储系统如图7-9所示，包括三个大批量轮胎分拣系统和一个小批量轮胎分拣系统。所述小批量轮胎分拣系统包括依次连接的小批量传输系统2、箱体运输系统3、轮胎垛智能解垛系统5及装车系统6；所述小批量传输系统2设有螺旋传送带8、轮胎分拣系统20、次品回收口21和扫码装置7。所述大批量轮胎分拣系统包括依次连接的大批量传输系统1、堆垛系统3、箱体运输系统3、轮胎垛智能解垛系统5及装车系统6，三个大批量轮胎分拣系统的运输系统1共用一个入口11和一个螺旋传送带8，入口11处设有扫码装置7，每个大批量运输系统1设有对应的斜坡传送带10，其中，相邻的斜坡传送带10组合为双层斜坡传送带，每一层斜坡传送带10的高位端均与螺旋传送带8相连接，每一层斜坡传送带10的低位端连接有对应的堆垛系统3、箱体运输系统4和轮胎垛智能解垛系统5。所述堆垛系统3包括轮胎垛堆垛装置30、轮胎垛搬运装置9和定位装置31。所述轮胎垛智能解垛系统5包括轮胎垛搬运装置9、轮胎垛解垛装置50和扫码装置7。所述箱体运输系统4采用桥式起重机41搬运实箱或空箱。所述智能化轮胎仓储系统还包括信息管理系统，轮胎和箱体上设有识别码，扫码装置7扫描轮胎和箱体上的识别码并将识别结果反馈给信息管理系统，轮胎垛搬运装置9和轮胎分拣系统20根据信息管理系统下达的指令进行操作。The intelligent tire storage system using the above-mentioned tire sorting system 20, tire stack handling device 9, tire stack unstacking device 50 and tire stack intelligent unstacking system 5 is shown in Figure 7-9, including three large-batch tire sorting systems system and a small batch tire sorting system. The small-batch tire sorting system includes a small-batch transmission system 2, a box transportation system 3, an intelligent tire stack depalletizing system 5, and a loading system 6 connected in sequence; the small-batch transmission system 2 is provided with a spiral conveyor belt 8, Tire sorting system 20, defective product recovery port 21 and code scanning device 7. The large-volume tire sorting system includes a sequentially connected large-volume transport system 1, stacking system 3, box transport system 3, tire stack intelligent depalletizing system 5 and loading system 6, three large-volume tire sorting systems The transportation system 1 shares an entrance 11 and a spiral conveyor belt 8, a code scanning device 7 is provided at the entrance 11, and each large-batch transportation system 1 is provided with a corresponding slope conveyor belt 10, wherein the adjacent slope conveyor belts 10 are combined into a double Layered slope conveyor belt, the high end of each layer of slope conveyor belt 10 is connected to the spiral conveyor belt 8, and the low end of each layer of slope conveyor belt 10 is connected to the corresponding stacking system 3, box transportation system 4 and intelligent unstacking of tire stacks System 5. The stacking system 3 includes a tire stack stacking device 30 , a tire stack handling device 9 and a positioning device 31 . The tire stack intelligent unstacking system 5 includes a tire stack handling device 9 , a tire stack unstacking device 50 and a code scanning device 7 . The box transport system 4 uses bridge cranes 41 to move full or empty boxes. The intelligent tire storage system also includes an information management system, the tires and the box are provided with identification codes, the code scanning device 7 scans the identification codes on the tires and the box and feeds back the identification results to the information management system, the tire stack handling device 9 and the tire sorting system 20 operate according to the instructions issued by the information management system.
小批量仓储方法包括以下步骤：小批量运输系统2中的轮胎分拣系统20抓取从螺旋传送带8传输而来的轮胎入箱体并堆成垛；S2、起重机41将装有轮胎垛的箱体移动至轮胎垛智能解垛系统5；S3、轮胎垛智能解垛系统5处的轮胎垛搬运装置9抓取不同品种的轮胎垛并由轮胎垛解垛装置50解垛；S4、将解垛后的轮胎进行装车；S5、起重机41将空箱移动至轮胎分拣系统20；The small-batch storage method includes the following steps: the tire sorting system 20 in the small-batch transportation system 2 grabs the tires transferred from the spiral conveyor belt 8 into the box and piles them into stacks; The body moves to the tire stack intelligent depalletizing system 5; S3, the tire stack handling device 9 at the tire stack intelligent depalletizing system 5 grabs different types of tire stacks and is destacked by the tire stack destacking device 50; S4, unstacks the tire stack The rear tire is loaded; S5, crane 41 moves empty case to tire sorting system 20;
大批量仓储方法包括以下步骤：M1、大批量运输系统1中的螺旋传送带8将轮胎的高度降低至斜坡传送带10的高位端，然后向斜坡传送带10的低位端运动；M2、根据定位装置31反馈的信息，轮胎垛堆垛装置30将轮胎堆成垛，轮胎垛搬运装置9抓取垛并放入箱体；M3、起重机41将装有轮胎的箱体移动至轮胎垛智能解垛系统5；M4、轮胎垛智能解垛系统5处的轮胎垛搬运装置9抓取垛并由轮胎垛解垛装置50解垛；M5、将解垛后的轮胎进行装车；M6、起重机41将空箱移动至堆垛系统。The large-volume storage method includes the following steps: M1, the spiral conveyor belt 8 in the large-volume transportation system 1 lowers the height of the tires to the high end of the slope conveyor belt 10, and then moves to the low end of the slope conveyor belt 10; M2, feedback according to the positioning device 31 information, the tire stacking device 30 stacks the tires, and the tire stack handling device 9 grabs the stack and puts it into the box; M3 and the crane 41 move the box with the tires to the tire stack intelligent destacking system 5; M4, the tire stack handling device 9 at the tire stack intelligent depalletizing system 5 grabs the stack and is depalletized by the tire stack depalletizing device 50; M5, loads the destacked tires; M6, the crane 41 moves the empty box to the stacking system.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621023896.6UCN206187790U (en) | 2016-08-31 | 2016-08-31 | Tire buttress handling device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621023896.6UCN206187790U (en) | 2016-08-31 | 2016-08-31 | Tire buttress handling device |
| Publication Number | Publication Date |
|---|---|
| CN206187790Utrue CN206187790U (en) | 2017-05-24 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621023896.6UExpired - Fee RelatedCN206187790U (en) | 2016-08-31 | 2016-08-31 | Tire buttress handling device |
| Country | Link |
|---|---|
| CN (1) | CN206187790U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178933A (en)* | 2018-08-21 | 2019-01-11 | 芜湖文青机械设备设计有限公司 | A kind of feeding device |
| CN110126005A (en)* | 2019-05-10 | 2019-08-16 | 珠海格力电器股份有限公司 | Waste tire cutting device |
| CN119018623A (en)* | 2024-10-29 | 2024-11-26 | 江苏晟林科技有限公司 | Tire conveying device |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178933A (en)* | 2018-08-21 | 2019-01-11 | 芜湖文青机械设备设计有限公司 | A kind of feeding device |
| CN109178933B (en)* | 2018-08-21 | 2020-10-30 | 芜湖文青机械设备设计有限公司 | Material taking device |
| CN110126005A (en)* | 2019-05-10 | 2019-08-16 | 珠海格力电器股份有限公司 | Waste tire cutting device |
| CN119018623A (en)* | 2024-10-29 | 2024-11-26 | 江苏晟林科技有限公司 | Tire conveying device |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20170524 Termination date:20190831 |