CN113276598A

CN113276598A - Device for automatically replacing household vehicle tire mechanism and control method

Info

Publication number: CN113276598A
Application number: CN202110622512.1A
Authority: CN
Inventors: 文学; 朱梅玉
Original assignee: Shaoyang University
Current assignee: Shaoyang University
Priority date: 2021-06-04
Filing date: 2021-06-04
Publication date: 2021-08-20

Abstract

The invention discloses a mechanical device for automatically replacing an automobile tire and a control method. The invention realizes the automatic tire replacement operation, simultaneously loads and unloads a plurality of nuts, has synchronously adjustable pretightening force, can automatically find the position of the hub, and improves the efficiency and the safety of tire replacement and the service life of the automobile.

Description

Device for automatically replacing household vehicle tire mechanism and control method

Technical Field

The invention relates to the field of automatic loading and unloading of automobile tires, in particular to a device for automatically replacing a household automobile tire mechanism and a control method.

Background

With the rapid development of the economic level and the development of science and technology in China, automobiles become daily transportation tools for people, and the work of automobile maintenance becomes more and more. At present, the lifting jack is commonly adopted for replacing the tires of the household vehicle and matched with manpower to load and unload the tires, so that the efficiency and the safety are low; aiming at the problem that a large-scale mine loader is matched with a carrier for clamping tires and a jack, the automatic operation is difficult to realize, and the efficiency is low.

Chinese patent CN110901303A discloses a tire replacement device, which comprises a power cavity, a transmission device and a tire replacement device, and realizes automatic vehicle jacking and automatic nut replacement, thereby improving the efficiency of tire replacement. However, in the tire replacement process, the nuts are assembled and disassembled one by one, so that the same pretightening force of each bolt cannot be ensured, and the service life and the safety of the automobile are reduced.

Chinese patent CN107554211A discloses an automatic assembling and disassembling mechanism for car tires, which comprises rollers, a base, an automatic wrench, an air inlet pipe, a fixed disk, a metal sensor, a motor, a cylinder, a clamp, a housing, a console, a lead screw, an air bag and an air pump, wherein the tightening of the tires and the disassembling of bolts are realized by buttons on the console, the replacement of the tires is realized by rotating four lead screw handles, the assembling and disassembling of the car tires can be realized, and the degree of automation is high. However, in the process of assembling and disassembling the tire, the corresponding angle of the automatic wrench and the wheel hub cannot be ensured, and the adjustment is inconvenient; and the whole replacement process needs to detach the old tire, move out of the vehicle bottom, clamp the new tire again and reposition, and the efficiency is lower.

Disclosure of Invention

In order to solve the problems, the invention aims to solve the problems of different bolt pretightening force, low safety, low replacement efficiency and the like of the conventional tire replacing device, and provides a device and a control method for automatically replacing a household vehicle tire mechanism, which realize automatic tire replacement operation, simultaneously assemble and disassemble a plurality of nuts, adjust the pretightening force, and improve the tire replacement efficiency, safety and service life of an automobile.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a device for automatically replacing a household vehicle tire mechanism comprises a case, wherein a mechanical arm with a telescopic function is hinged to the case, the mechanical arm is connected with a reversing device, the reversing device is connected with a nut loading and unloading mechanism through a shaft, a screw jack is installed in the case, a guide rail mechanism is further arranged in the case, and the guide rail mechanism is connected with the mechanical arm; the reversing device comprises a supporting plate and a base, a bearing is arranged between the supporting plate and the base, and the supporting plate is connected with the nut assembling and disassembling mechanism; the nut assembling and disassembling mechanism comprises a shell, wherein two ends of the shell are respectively provided with a manipulator, the middle part of the shell is provided with a fourth stretching device, the interior of the shell is fixedly provided with a first stretching device, the first stretching device is provided with at least three support columns along the circumferential direction, the middle part of the first stretching device is connected with a second stretching device, a retainer is fixedly arranged in the second stretching device, the second stretching device is uniformly provided with a plurality of automatic wrenches along the circumferential direction, the interior of the automatic wrenches is provided with a second travel switch, and the retainer is provided with through holes corresponding to the automatic wrenches; the shell is provided with a through hole corresponding to the support column, and is also provided with a through hole corresponding to the automatic wrench and having a diameter larger than that of the automatic wrench; a spring is connected between the automatic wrenches along the pitch circle in the radial direction, the tail of the automatic wrench is in a conical shape or a truncated cone shape, and a slope groove is correspondingly arranged on the bottom surface of the second stretching device, which is in contact with the tail of the automatic wrench; and a torsion spring is arranged between the first stretching device and the second stretching device, a ratchet mechanism is arranged in the surface of the first stretching device, and the ratchet mechanism is connected with a first travel switch.

Furthermore, a high-pressure gas generating device is installed in the case, the high-pressure gas generating device is communicated with a gas storage tank, the gas storage tank is communicated with a power device, and the power device is communicated with the screw jack; high-pressure gas generating device internally mounted has driving motor, and the driving motor below is connected with the reduction gear, and first flow pump is installed to the reduction gear below, and the second flow pump is installed to first flow pump below, and the flow of first flow pump is less than the flow of second flow pump, install the clutch between first flow pump and the second flow pump, there is the friction disc below of clutch, the friction disc is connected with the pneumatic cylinder.

Furthermore, the screw jack comprises a screw rod, the screw rod is in threaded connection with a screw rod nut, and the screw rod nut is fixedly connected with a sun gear; the screw jack further comprises a lower base, an upper base is mounted on the lower base, the lower base is connected with an input cylindrical gear in a shaft mode, a planet carrier is fixedly connected to the inner ring of the input cylindrical gear, a planet wheel in the planet carrier is connected in a shaft mode, and the inner planet wheel is meshed with the sun wheel.

Furthermore, a roller support is installed below the inner portion of the case and fixedly connected with the lead screw, universal wheels are connected below the roller support, and roller holes corresponding to the universal wheels are formed in the case.

Furthermore, the mechanical arm comprises a first hard tube, a second hard tube is embedded in the first hard tube, a plurality of pulleys are arranged between the first hard tube and the second hard tube, a return spring is arranged in the second hard tube, and the tail end of the first hard tube is connected with the return spring in the second hard tube; a mechanical arm cylinder is arranged in the mechanical arm and connected with a ratchet, and a ratchet bar is arranged in the mechanical arm; the first hard pipe and the second hard pipe are made of stainless steel, titanium or alloy.

Furthermore, the first stretching device, the second stretching device and the fourth stretching device are all cylinders, and the first stretching device and the second stretching device are combined to form a secondary cylinder.

Furthermore, a central shaft is installed on the base, two symmetrical reversing cylinders are further arranged on the base, a plurality of fixed pulleys are arranged around the reversing cylinders, a steel wire rope is connected to a piston inside each reversing cylinder, and the steel wire rope is fixedly connected with the surface of the central shaft by bypassing the fixed pulleys.

Furthermore, the ratchet mechanism comprises two third stretching devices which are symmetrically installed, one end of each third stretching device is connected with a pawl, a reset device is arranged in each first stretching device in a spherical hinge mode, the other end of each reset device is connected with a second stretching device, a gear cutting arc strip is arranged on the inner side of each second stretching device, and the height of each gear cutting arc strip is larger than the maximum stretching stroke of each first stretching device.

Further, the manipulator includes the manipulator cylinder, and the manipulator cylinder is connected with a plurality of claw clamp along circumference evenly distributed.

The invention also discloses a control method of the device for automatically replacing the household vehicle tire mechanism, which is characterized by comprising the following steps:

s1: the high-pressure gas generating device generates high-pressure gas to be input into the gas storage tank, the pressure meets working pressure, a pressure control signal is transmitted to the power device, the power device rotates to enable the screw jack to extend out, and after the preset height is reached, the pressure control signal is transmitted to the power device, and the screw jack stops acting;

s2: the guide rail mechanism pushes out the mechanical arm and the nut loading and unloading mechanism, the mechanical arm rotates, stretches and adapts to the position of the nut loading and unloading mechanism, and the nut loading and unloading mechanism translates in a vertical plane parallel to the side face of the hub;

s3: a pressure control signal is transmitted to a manipulator cylinder of the nut loading and unloading mechanism, the manipulator cylinder controls a jaw clamp to contract, a manipulator on one side clamps a tire of an automobile, a manipulator on the other side clamps a tire to be replaced, and the jaw clamp is shortened at the same time to center the nut loading and unloading mechanism;

s4: the pressure control signal is transmitted to a first stretching device of the nut assembling and disassembling mechanism, the first stretching device stretches out, and the support column presses the surface of the hub to ensure the parallelism of the nut assembling and disassembling mechanism and the side surface of the hub; the fourth stretching device positioned in the center of the nut assembling and disassembling mechanism stretches out and props against the center of the hub; the first stretching device is separated from the surface of the hub;

s5: the second stretching device pushes the automatic wrench to stretch out, if the nut is not sleeved in the automatic wrench, the automatic wrench can slide outwards along the slope groove under the pressure action of the second stretching device, the pitch circle diameters of the five automatic wrenches are increased, the first travel switch is triggered, the second stretching device retracts, and the pitch circle diameter of the automatic wrench retracts;

s6: the first travel switch is triggered again by the retraction of the second stretching device, the ratchet mechanism is controlled to rotate by the third stretching device, the second stretching device is driven to rotate by one tooth, and the second stretching device stretches out again;

s7: and (5) circulating S to S until the automatic wrench is correctly sleeved into the hub bolt, and triggering a second travel switch in the automatic wrench to finish the circulation;

s8: the pressure control signal is transmitted to an automatic wrench of the nut assembling and disassembling mechanism, and the automatic wrench unloads the corresponding nut;

s9: the nut assembling and disassembling mechanism is rotated by 180 degrees by the reversing device, a pressure control signal is transmitted to the guide rail mechanism, the guide rail mechanism retracts, a tire to be replaced is assembled on the automobile, the cylinder in the mechanical claw extends to release the tire to be replaced and the tire to be replaced, and the cylinder of the guide rail mechanism extends out; the pressure control signal is transmitted to the reversing device;

s10: the reversing device rotates 180 degrees; the pressure control signal is transmitted to the guide rail mechanism; the guide rail mechanism retracts, and the automatic wrench is provided with a hub nut; the pressure control signal is transmitted to the screw jack;

s11: the screw jack rotates reversely, the screw rod retracts, the automobile is put down, the tire replacement operation is completed, and the device resets.

The invention has the following advantages:

1. through the arrangement of a plurality of automatic wrenches in the nut assembling and disassembling mechanism, the simultaneous assembling and disassembling of a plurality of nuts are realized, the pretightening force is synchronously adjustable, and the safety and the efficiency of tire replacement are improved.

2. The device realizes the function of automatically searching five wheel hub nut positions and completing nut assembly and disassembly, realizes the function of self-adaptive adjustment of the adjusting circle diameter of the automatic wrench through the arrangement of the spring, the conical tail part of the automatic wrench and the cylinder groove, and is suitable for tires with different PCD (wheel hub nut adjusting circle diameters).

3. Through the installation switching-over device, realize gentle accurate switching-over operation, improve the security of trading child process.

4. The mechanical arm has self-adaptability, and realizes the functions of self-adaptive telescopic rotation and locking along with the position change of the nut assembling and disassembling mechanism.

5. When the jack operates, the roller wheel support is driven to ascend, the universal wheels are lifted, the bottom surface of the box body is in contact with the ground, the universal wheels are prevented from bearing pressure, the contact area between the device and the ground is increased, and the safety of the device is improved.

6. The high-pressure gas generating device can generate high-pressure gas with low power, automatically maintain the working air pressure above a set value, and improve the accuracy and the safety in the tire replacing process.

Drawings

Fig. 1 is a schematic overall structure diagram of an apparatus for automatically replacing a tire mechanism of a household vehicle according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of an elevation section of a chassis according to an embodiment of the present invention.

Fig. 3 is a schematic top view of a chassis according to an embodiment of the invention.

Fig. 4 is a schematic structural view of an air compressor according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a screw jack according to an embodiment of the present invention.

Fig. 6 is a schematic view of the entire structure of the nut attaching and detaching mechanism according to the embodiment of the present invention.

Fig. 7 is a schematic diagram of the relative positions of the second cylinder, the retainer and the automatic wrench according to the embodiment of the present invention.

Fig. 8 is a schematic left side view of the nut mounting and dismounting mechanism according to the embodiment of the present invention.

Fig. 9 is a schematic structural view of a section E-E in fig. 8.

Fig. 10 is a schematic diagram of the relative positions of the third cylinder, the pawl and the reset cylinder in the embodiment of the present invention.

Fig. 11 is a schematic view of the relative positions of the retainer and the automatic wrench according to the embodiment of the present invention.

Fig. 12 is a schematic structural diagram of a robot according to an embodiment of the present invention.

Fig. 13 is a schematic structural diagram of a front view of a reversing device in an embodiment of the invention.

Fig. 14 is a schematic side sectional view of a reversing device according to an embodiment of the present invention.

Fig. 15 is a piping diagram of a pneumatic control of an apparatus for automatically exchanging a tire mechanism of a home car in accordance with the present invention.

Detailed Description

In a typical embodiment of the present application, as shown in fig. 1 to 14, an apparatus for automatically replacing a tire mechanism of a household vehicle includes a housing 1, the housing 1 is hinged with a mechanical arm 2, the other end of the mechanical arm 2 is connected with a reversing device 3, and the reversing device 3 is connected with a nut mounting and dismounting mechanism 4 through a shaft.

The high-pressure gas generator 7 is installed in the case 1, the high-pressure gas generator 7 is communicated with a gas storage tank 8, the gas storage tank is communicated with a pneumatic motor 10, the pneumatic motor 10 is communicated with a screw jack 9, and a screw rod 24 is arranged in the screw jack 9. High-pressure gas is generated from the high-pressure gas generating device 7 and enters the pneumatic motor 10 of the screw jack 9 through the gas storage tank 8, the screw jack 9 jacks the automobile, and after the automobile is jacked to a set height, the screw rod 24 contacts the travel switch to stop supplying gas for the pneumatic motor 10.

The high-pressure gas generating device 7 is internally provided with a driving motor 17, a speed reducer 16 is connected below the driving motor 17, a first flow pump 15 is installed below the speed reducer, a second flow pump 12 is installed below the first flow pump 15, the flow of the first flow pump 15 is smaller than that of the second flow pump 12, and a clutch 14 and a pneumatic cylinder 13 are further installed between the first flow pump 15 and the second flow pump 12. In the earlier stage of compressing gas, a driving motor 17 is started, power is input into a first flow pump 15 through a speed reducer 16, a clutch 14 is contacted, the power is transmitted to a second flow pump 12 through the clutch 14, the first flow pump 15 and the second flow pump 12 work simultaneously, the air pressure rises rapidly, and the required torque is increased; after the set pressure is reached, the pressure detection device outputs a signal to the pneumatic cylinder 13, the pneumatic cylinder 13 extends out, the clutch 14 is pushed to be separated, the second flow pump 12 loses power and stops rotating, the first flow pump 15 continues to work, the torque input into the first flow pump 15 is increased, high-pressure gas continues to be generated, and the air pressure is increased; when the air consumption is too large and the output air pressure is lower than the set pressure, the pressure detection device outputs a signal to the pneumatic cylinder 13, the pneumatic cylinder 13 retracts, the clutch 14 is contacted, power is input into the second flow pump 12 through the clutch 14, the first flow pump 15 and the second flow pump 12 work simultaneously, and the pressure rises rapidly. By this process, the high-pressure gas generator can generate high-pressure gas with low power and automatically maintain the working gas pressure above the set value.

The screw jack 9 adopts a ZUWGW type epicyclic gear train structure and comprises a screw rod 24, and a screw rod nut 25 is arranged on the screw rod 24. The screw jack 9 further comprises a lower base 20, an upper base 19 and an input cylindrical gear 18 are mounted on the lower base 20, a planet carrier 22 is fixedly connected to the inner ring of the input cylindrical gear 18, the planet carrier 22 is in shaft connection with an outer planet wheel 27 and an inner planet wheel 26 respectively, the screw jack 9 further comprises a sun wheel 23, the sun wheel 23 is meshed with the inner planet wheel 26, and the sun wheel 23 is further fixedly connected with a screw nut 25. The power of the pneumatic motor 10 is transmitted to a planet carrier 22 through a cylindrical gear 18, the planet carrier 22 drives an inner planet wheel and an outer planet wheel to revolve around the axis of the planet carrier 22, the inner planet wheel 26 rotates to drive a sun wheel 23 to rotate, the sun wheel 23 is fixedly connected with a screw nut 25, and the screw nut 25 rotates to drive a screw rod 24 to eject; the rectangular screw rod thread selection is designed and calculated, so that the self-locking function is realized, the pneumatic motor 10 stops rotating, and the screw rod pair does not slide and retract under the action of friction force, so that the safety performance is improved; the pneumatic motor 10 rotates reversely, and the screw rod 24 retracts; the lifting operation of the heavy object is completed, and the function of generating large torque with low power can be realized. The screw jack 9 adopts a ZUWGW type epicyclic gear train, thereby avoiding the condition that two planet wheels need to be concentric and reducing the volume of the device.

A roller bracket 6 is arranged below the inner part of the case, the roller bracket 6 is fixedly connected with a screw rod 24, a universal wheel 5 is connected below the roller bracket, and a roller hole corresponding to the universal wheel 5 is formed in the case 1, so that the device can move integrally; when the screw rod 24 extends out, the roller wheel support 6 is driven to ascend, the universal wheel 5 is lifted, the bottom surface of the box body 1 is in contact with the ground, the universal wheel 5 is prevented from bearing pressure, the contact area between the device and the ground is increased, and the safety of the jack is improved.

The machine case 1 further comprises a guide rail mechanism 11, the guide rail mechanism 11 is connected with the mechanical arm 2, and the position of the mechanical arm 2 is locked.

The mechanical arm 2 comprises a first steel pipe 201, a second steel pipe 202 is embedded in the first steel pipe 201 in a sleeved mode, the inner diameter of the first steel pipe 201 is larger than that of the second steel pipe 202, the tail end of the first steel pipe 201 is connected with a return spring 38 in the second steel pipe 202, and the return spring 38 is connected with the reversing device 3. The mechanical arm is characterized in that a mechanical arm cylinder 40 is further installed inside the mechanical arm, the mechanical arm cylinder 40 is connected with a ratchet, a ratchet bar 39 is further arranged inside the mechanical arm, and a plurality of pulleys 41 are further arranged between the first steel pipe 201 and the second steel pipe 202.

The extension and shortening of the mechanical arm 2 are determined by the nut assembling and disassembling mechanism 4, when the mechanical claw 33 of the nut assembling and disassembling mechanism 4 clamps the tire, the nut assembling and disassembling mechanism 4 can translate in a vertical plane parallel to a hub, so that the mechanical arm 2 is stretched or compressed, when the mechanical arm reaches a station, the cylinder 40 and the ratchet bar 39 are matched to lock the length of the mechanical arm, and the ratchet mechanism of the guide rail 11 can lock the angle between the mechanical arm 2 and the horizontal plane, so that the subsequent tire replacing operation can be smoothly carried out; after the tire changing operation is completed, the air cylinder 40 retracts, and the mechanical arm 2 is reset under the action of the reset spring 38. The mechanical arm 2 has self-adaptability, and realizes the functions of self-adaptive telescopic rotation and locking along with the position change of the nut assembling and disassembling mechanism 4.

The reversing device 3 comprises a supporting plate 311 and a base 312, a bearing 43 is arranged between the supporting plate 311 and the base 312, the supporting plate 311 is connected with the nut assembling and disassembling mechanism 4, a central shaft 45 is arranged on the base 312, two symmetrical reversing cylinders 44 are further arranged on the base 312, a plurality of fixed pulleys 46 are distributed around the reversing cylinders 44, a steel wire rope 47 is connected to a piston inside the reversing cylinders 44, and the steel wire rope 47 bypasses the fixed pulleys 46 and is fixedly connected with the surface of the central shaft 45. The reversing cylinder 44 moves up and down to generate pulling force which is transmitted to the surface of the central shaft 45 through a steel wire, a moment is generated on the central shaft 45, the reversing cylinders 44 on the two sides move in opposite directions to enable the central shaft 45 to rotate under the action of 2 moments in the same direction and the same size, the nut assembling and disassembling mechanism 4 is driven to rotate, the stroke of the reversing cylinder 44 and the diameter of the central shaft 45 are calculated through design, one stroke of the reversing cylinder 44 is guaranteed to correspond to the central shaft to rotate 180 degrees, and uniform, slow, stable and accurate reversing action is achieved.

The nut assembling and disassembling mechanism 4 comprises a shell 401, a semi-circular arc fixing mechanism 402 is installed on the shell 401, the semi-circular arc fixing mechanism 402 is connected with the reversing device 3, and a fourth air cylinder 34 is installed in the center of the shell 401. The two ends of the shell 401 are respectively and symmetrically provided with the manipulator 33, the manipulator 33 comprises a manipulator cylinder 331, and the manipulator cylinder 331 is connected with three claw clamps 332 which are uniformly distributed along the circumference. The first cylinder 30 is arranged in the shell 401, the first cylinder 30 is communicated with the manipulator cylinder 331, the plurality of support columns 301 are arranged on the surface of the first cylinder 30, and when the first cylinder 30 extends out, the support columns 301 press the surface of the hub, so that the parallelism between the nut assembling and disassembling mechanism 4 and the side face of the hub is ensured.

High-pressure gas is input into a manipulator cylinder 331, a gripper 332 of the manipulator 33 holds a tire to be replaced, a gripper 332 on the other side holds a tire of the automobile, and 6 grippers are simultaneously shortened to center the nut attaching and detaching mechanism 4. The fourth cylinder 34 extends out to the center of the hub, the supporting column 301 is separated from the surface of the hub, and the claw clamp 332 grasps the automobile tire.

The first cylinder 30 is connected with the second cylinder 28, and the first cylinder 30 and the second cylinder 28 form a secondary cylinder. A retainer 281 is arranged in the second cylinder 28, five automatic wrenches 32 are uniformly installed on the retainer 281 along the circumferential direction, and a second travel switch 322 is arranged in the automatic wrenches 32. A sliding block 285 is fixed on the automatic wrench 32, and the holding frame 281 is provided with a corresponding sliding rail 286. A through hole corresponding to the automatic wrench 32 is formed on the retainer 281; the shell 401 is formed with a through hole corresponding to the support column 301, and the shell 401 is also formed with a through hole corresponding to the automatic wrench 32 and having a diameter larger than that of the automatic wrench 32; springs 321 are radially connected between the automatic wrenches 32 along the pitch circle, so that five automatic wrenches are guaranteed to have a tensioning force; the tail part of the automatic wrench 32 is conical or truncated cone-shaped, and the bottom surface of the second cylinder 28, which is contacted with the tail part of the automatic wrench 32, is correspondingly provided with a slope surface groove 31. The second cylinder 28 pushes the automatic wrenches 32 to prop against the surface of the hub, and under the action of pressure, the five automatic wrenches 32 slide towards the slope groove 31 along the tail conical surface, so that the pitch circle diameter is increased; after the pitch circle diameter reaches 114mm, the second cylinder 28 contracts, the five automatic wrenches 32 slide outwards the slope groove 31 along the conical surface under the action of the tension of the spring 321, the pitch circle diameter is reduced, and the automatic wrenches 32 reset.

A torsion spring 282 is arranged between the first air cylinder 30 and the second air cylinder 28, a ratchet mechanism 29 is arranged on the surface of the second air cylinder 28, the ratchet mechanism 29 comprises two third stretching devices 36 which are symmetrically arranged, one end of each third stretching device 36 is connected with a pawl 361, a resetting device 37 is arranged in the first stretching device 30 in a spherical hinge mode, the other end of the resetting device 37 is connected with the second stretching device 28, a tooth cutting arc 283 is arranged on the inner side of the second stretching device 28, and the height of the tooth cutting arc 283 is larger than the maximum stretching stroke of the first stretching device 30. The second cylinder 28 rotates under the action of the torsion spring 282 to a designated position, the pawl 361 is clamped in the tooth groove of the cutting tooth arc bar 283, and the position of the second cylinder 28 is locked. After each tire replacement operation, the reset cylinder 37 extends out to push the second cylinder 28 to rotate, the torsion spring 282 is compressed, and the second cylinder 28 is reset.

After the second cylinder 28 contracts, the first stroke switch 284 is contacted, the third cylinder 36 retracts, under the action of the torsion spring 282, the ratchet mechanism 29 rotates by one tooth, the third cylinder 36 extends again, the pawl 361 is driven to be clamped into the tooth socket, the ratchet mechanism contacts the first stroke switch 284 to send out a control signal of the next action, the first cylinder 30 extends, the support column 301 abuts against the hub, and the nut assembling and disassembling mechanism 4 adjusts the pitch circle diameter. The cycle ends until the air wrench 32 is properly engaged with the hub bolt, which activates the second travel switch 322 inside the air wrench 32. High-pressure gas is input into the pneumatic wrench 32, and five nuts are simultaneously dismounted to finish the dismounting work of the nuts; the guide rail mechanism 11 pushes out the robot arm 2 and the nut mounting and demounting mechanism 4, and the tire is removed from the automobile.

The reversing device 3 rotates the nut assembling and disassembling mechanism 4 by 180 degrees, the guide rail mechanism 11 retracts, the tire to be replaced is assembled on the automobile, the manipulator cylinder 331 extends, and the tire to be replaced are released.

The guide rail mechanism 11 extends out, the reversing device 3 drives the nut assembling and disassembling mechanism 4 to rotate 180 degrees, the guide rail mechanism 11 retracts, and the automatic wrench 32 is assembled with the hub nut. After the replacement tire is mounted, the automatic wrench 32 directly aligns to the nut, the nut is tightened simultaneously, the pre-tightening force of the automatic wrench 32 can be synchronously adjusted, and the 5 bolts are guaranteed to have the same pre-tightening force.

The pneumatic motor 10 rotates reversely, the screw rod 24 retracts, and the screw jack 9 puts down the automobile. The device is reset, the whole device is pulled out, and the tire replacement operation is completed.

After the tire changing operation is completed, the reset cylinder 37 is extended to push the second cylinder 28 to rotate to the initial position, and the torsion spring is compressed to prepare for the next tire changing operation.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and those skilled in the art can make various changes and modifications without departing from the scope of the present invention, and the technical content disclosed above is equivalent to the embodiment, and all of them are within the scope of the present invention.

Claims

1. A device for automatically replacing a household vehicle tire mechanism comprises a case (1), wherein the case (1) is hinged with a mechanical arm (2) with a telescopic function, the mechanical arm (2) is connected with a reversing device (3), and the reversing device (3) is connected with a nut assembling and disassembling mechanism (4) in a shaft mode, and is characterized in that a screw jack (9) is installed in the case (1), a guide rail mechanism (11) is further arranged in the case (1), and the guide rail mechanism (11) is connected with the mechanical arm (2); the reversing device (3) comprises a supporting plate (311) and a base (312), a bearing (43) is arranged between the supporting plate (311) and the base (312), and the supporting plate (311) is connected with the nut assembling and disassembling mechanism (4); the nut assembling and disassembling mechanism (4) comprises a shell (401), two ends of the shell (401) are respectively provided with a manipulator (33), the middle part of the shell (401) is provided with a fourth stretching device (34), a first stretching device (30) is fixed in the shell (401), at least three support columns (301) are arranged on the first stretching device (30) along the circumferential direction, the middle part of the first stretching device (30) is connected with a second stretching device (28), a retainer (281) is fixed in the second stretching device (28), a plurality of automatic wrenches (32) are uniformly arranged on the second stretching device (28) along the circumferential direction, a second travel switch (322) is arranged in each automatic wrench (32), and through holes corresponding to the automatic wrenches (32) are formed in the retainer (281); the shell (401) is provided with a through hole corresponding to the support column (301), and the shell (401) is also provided with a through hole corresponding to the automatic wrench (32) and having a diameter larger than that of the automatic wrench (32); a spring (321) is radially connected between the automatic wrenches (32) along a pitch circle, the tail parts of the automatic wrenches (32) are arranged to be conical or truncated cone-shaped, and the bottom surfaces of the second stretching devices (28) which are contacted with the tail parts of the automatic wrenches (32) are correspondingly provided with slope grooves (31); a torsion spring (282) is arranged between the first stretching device (30) and the second stretching device (28), a ratchet mechanism (29) is arranged in the surface of the first stretching device (30), and the ratchet mechanism (29) is connected with a first travel switch (284).

2. The device for automatically replacing the tire mechanism of the household vehicle is characterized in that a high-pressure gas generating device (7) is installed in the case (1), the high-pressure gas generating device (7) is communicated with a gas storage tank (8), the gas storage tank (8) is communicated with a power device (10), and the power device (10) is communicated with a screw jack (9); high-pressure gas generating device (7) internally mounted has driving motor (17), and driving motor (17) below is connected with reduction gear (16), and first flow pump (15) are installed to reduction gear (16) below, and second flow pump (12) are installed to first flow pump (15) below, and the flow of first flow pump (15) is less than the flow of second flow pump (12), install clutch (14) between first flow pump (15) and second flow pump (12), there is friction disc (141) below of clutch (14), friction disc (141) are connected with pneumatic cylinder (13).

3. The device for automatically replacing the tyre mechanism of the household vehicle as claimed in claim 1, wherein the screw jack (9) comprises a screw rod (24), the screw rod (24) is in threaded connection with a screw nut (25), and the screw nut (25) is fixedly connected with the sun wheel (23); the screw jack (9) further comprises a lower base (20), an upper base (19) is installed on the lower base (20), the lower base (20) is connected with an input cylindrical gear (18) in a shaft mode, a planet carrier (22) is fixedly connected to the inner ring of the input cylindrical gear (18), a planet wheel (26) in the planet carrier (22) is connected in a shaft mode, and the inner planet wheel (26) is meshed with a sun wheel (23).

4. The device for automatically replacing the tire mechanism of the household vehicle is characterized in that a roller bracket (6) is arranged below the inner part of the case (1), the roller bracket (6) is fixedly connected with a screw rod (24), a universal wheel (5) is connected below the roller bracket (6), and a roller hole corresponding to the universal wheel (5) is formed in the case (1).

5. The device for automatically replacing the tire mechanism of the household vehicle is characterized in that the mechanical arm (2) comprises a first hard tube (201), a second hard tube (202) is sleeved and embedded in the first hard tube (201), a plurality of pulleys (41) are arranged between the first hard tube (201) and the second hard tube (202), a return spring (38) is arranged inside the second hard tube (202), and the tail end of the first hard tube (201) is connected with the return spring (38) inside the second hard tube (202); a mechanical arm cylinder (40) is installed in the mechanical arm (2), the mechanical arm cylinder (40) is connected with a ratchet, and a ratchet bar (39) is arranged in the mechanical arm (2); the first hard tube (201) and the second hard tube (202) are made of stainless steel, titanium or alloy.

6. An automatic tyre changing device for domestic vehicle according to claim 1, wherein the first stretching device (30), the second stretching device (28) and the fourth stretching device (34) are all air cylinders, and the first stretching device (30) and the second stretching device (28) are combined to form a secondary air cylinder.

7. The device for automatically replacing the household vehicle tire mechanism is characterized in that a central shaft (45) is installed on a base (312), two symmetrical reversing cylinders (44) are further arranged on the base (312), a plurality of fixed pulleys (46) are arranged around the reversing cylinders (44), a steel wire rope (47) is connected to a piston inside each reversing cylinder (44), and the steel wire rope (47) bypasses the fixed pulleys (46) and is fixedly connected with the surface of the central shaft (45).

8. The device for automatically replacing the tire mechanism of the household vehicle as claimed in claim 1, wherein the ratchet mechanism (29) comprises two third stretching devices (36) which are symmetrically arranged, one end of each third stretching device (36) is connected with a pawl (361), a resetting device (37) is spherically hinged in each first stretching device (30), the other end of each resetting device (37) is connected with each second stretching device (28), a tooth cutting arc strip (283) is arranged on the inner side of each second stretching device (28), and the height of each tooth cutting arc strip (283) is larger than the maximum stretching stroke of each first stretching device (30).

9. An automatic tyre changing device for domestic vehicles according to claim 1, wherein the manipulator (33) comprises a manipulator cylinder (331), and the manipulator cylinder (331) is connected with a plurality of gripper jaws (332) uniformly distributed along the circumference.

10. A control method of an apparatus for automatically exchanging a tire mechanism for a home car according to claim 1, comprising the steps of:

s1: the high-pressure gas generating device (7) generates high-pressure gas to be input into the gas storage tank (8), the pressure meets working pressure, a pressure control signal is transmitted to the power device (10), the power device (10) rotates to enable the screw jack (9) to extend out, after the preset height is reached, the pressure control signal is transmitted to the power device (10), and the screw jack (9) stops acting;

s2: the guide rail mechanism (11) pushes out the mechanical arm (2) and the nut assembling and disassembling mechanism (4), the mechanical arm (2) is rotated, stretched and adapted to the position of the nut assembling and disassembling mechanism (4), and the nut assembling and disassembling mechanism (4) translates in a vertical plane parallel to the side face of the hub;

s3: the pressure control signal is transmitted to a manipulator cylinder (331) of the nut assembling and disassembling mechanism (4), the manipulator cylinder (331) controls a claw clamp (332) to contract, a manipulator (33) at one side clamps the tire of the automobile, a manipulator (33) at the other side clamps the tire to be replaced, the claw clamp (332) is shortened at the same time, and the nut assembling and disassembling mechanism (4) is centered;

s4: the pressure control signal is transmitted to a first stretching device (30) of the nut assembling and disassembling mechanism (4), the first stretching device (30) stretches out, the supporting column (301) presses the surface of the hub, and the parallelism between the nut assembling and disassembling mechanism (4) and the side face of the hub is guaranteed; a fourth stretching device (34) positioned in the center of the nut assembling and disassembling mechanism (4) extends out and is propped against the center of the hub; the first stretching device (30) is separated from the surface of the hub;

s5: the second stretching device (28) pushes the automatic wrench (32) to stretch out, if the nut is not sleeved in the automatic wrench (32), under the pressure action of the second stretching device (28), the automatic wrench (32) can slide outwards along the slope groove (31), the pitch circle diameters of the five automatic wrenches (32) are increased, the first travel switch (284) is triggered, the second stretching device (28) retracts, and the pitch circle diameter of the automatic wrench (32) retracts;

s6: the first travel switch (284) is triggered again by the retraction of the second stretching device (28), the ratchet mechanism (29) is controlled to rotate by the third stretching device (36), the second stretching device (28) is driven to rotate by one tooth, and the second stretching device (28) extends again;

s7: the process is circulated from S4 to S5 until the automatic wrench (32) is sleeved into the hub bolt correctly, and a second travel switch (322) in the automatic wrench (32) is triggered, so that the cycle is finished;

s8: the pressure control signal is transmitted to an automatic wrench (32) of the nut assembling and disassembling mechanism, and the automatic wrench (32) unloads the corresponding nut;

s9: the nut assembling and disassembling mechanism (4) is rotated by 180 degrees by the reversing device (3), a pressure control signal is transmitted to the guide rail mechanism (11), the guide rail mechanism (11) retracts, a tire to be replaced is assembled on an automobile, an air cylinder in the mechanical claw (33) extends to release the tire to be replaced and the tire to be replaced, and the air cylinder of the guide rail mechanism (11) extends out; the pressure control signal is transmitted to the reversing device (3);

s10: the reversing device (3) rotates 180 degrees; the pressure control signal is transmitted to the guide rail mechanism (11); the guide rail mechanism (11) retracts, and an automatic wrench (32) is provided with a hub nut; the pressure control signal is transmitted to the screw jack (9);

s11: the screw jack (9) rotates reversely, the screw rod (24) retracts, the automobile is put down, the tire replacement operation is completed, and the device resets.