CN115416434B

CN115416434B - Self-adaptation tire dismouting manipulator

Info

Publication number: CN115416434B
Application number: CN202211136887.8A
Authority: CN
Inventors: 郑明誉; 郑振平
Original assignee: Servo Wheel Intelligent Robot Nanjing Co ltd
Current assignee: Servo Wheel Intelligent Robot Nanjing Co ltd
Priority date: 2022-09-19
Filing date: 2022-09-19
Publication date: 2023-11-14
Anticipated expiration: 2042-09-19
Also published as: CN115416434A

Abstract

The invention relates to a self-adaptive tire dismounting manipulator, which comprises: an operating head having a hooked free end; a robotic arm for driving the operating head between a disengaged position and a working position; a power device for providing power to the mechanical arm; and the manipulator limiting guide device is related to the tire dismounting robot, the operating head is provided with a force structure which enables the back surface of the operating head to be self-adaptively attached to the peripheral outline of the hub in the process of extending into and/or withdrawing from the peripheral outline surface of the hub, and the force structure at least comprises a first pin which enables the other end of the operating head relative to the free end to be hinged with the manipulator. The invention has simple structure and low cost, can effectively reduce the damage to the tire and the hub, and simultaneously greatly improves the automation degree of the equipment and the success rate and the accuracy of the tire disassembly and assembly.

Description

Self-adaptation tire dismouting manipulator

Technical Field

The invention relates to a tire dismounting device, in particular to a tire dismounting manipulator capable of realizing self-adaption following of the shape of the peripheral surface of a hub, and belongs to the technical field of tire maintenance mechanical devices.

Background

Fig. 1 is a schematic structural view of a wheel.

As shown in fig. 1: the wheel of a vehicle is generally composed of a hub W and a tire T mounted on the hub W, wherein the outer peripheral surface of the hub W is generally formed into a rugged curved surface structure such as: to achieve a good seal, two shoulders 18 (annular flanges) are formed on the outer rim of the hub W, which can grip the ends of the tyre T, i.e. "beads" known to those skilled in the art, for holding the beads of the tyre T; for another example, an annular groove 19 is further formed at a position near the middle of the outer peripheral surface of the hub W, and the annular groove 19 is in the form of a groove, and temporarily accommodates an end portion (bead 20) of the bead of the tire T during the attachment and detachment of the tire T.

In the event of problems with the wheel, and in particular with the tyre T on the wheel, maintenance and replacement of the tyre T is required, and therefore corresponding mechanical means are required to remove the tyre T from the hub W and/or to mount it back on the hub W, the means for this operation being generally known as tyre mounting/dismounting machines/devices, as disclosed in patent CN113103832a filed 2021 by the inventor (a vertical tyre mounting robot).

For the wheel assembling and disassembling tool, it is important that the mounting or disassembling tool commonly used in the market at present is mainly aimed at a horizontal tire assembling and disassembling machine (which is a device having a wheel receiving device on which a hub of an automobile wheel can be fixed (usually vertically arranged), the wheel receiving device can be rotated by a rotation driving device during the mounting or disassembling operation, and a tire can be assembled into or disassembled from the hub by using the mounting or disassembling tool), and there are some problems in practical use, such as: the automatic degree is low, the stability and the operation precision can not meet the requirements, the self-adaptive capacity is low, and the tire bead of the hub or the tire is easy to damage.

As described in patent CN101722803a (operating head for disassembling and assembling tyres for vehicles, applicant: gu Liya nuo group co.) the main mechanism for enabling the rotational-translational movement of the extracting tool is the first pin and the conversion means, which, under the action of the mechanical actuator, enable the movement from the position of gripping the bead and the extracted position of the tyre rim, but since the extracting tool is an integrally provided hook end and link end (having a certain length), the ability to engage with the hub is externally controlled, the hook itself (free end of the extracting tool) does not have the ability to self-adjust, and therefore, subject to the setting angle and setting precision of the link end and of the conversion means, i.e. the angular setting of the conversion means cannot be perfectly conformed to the profiled curved structure of the outer peripheral surface of the hub, this results in the fact that the extracting tool, which is integrally rigidly connected, cannot achieve a flexible engagement with the outer peripheral surface of the hub. In addition, once errors occur in the working initial position of the operating head, the radian setting of the conversion device, and the like, the problem that the free end is hard to collide with the outer peripheral surface of the hub and damage the hub is very easy to occur. Also, during gripping of the bead of the tire, a problem of damaging the bead of the tire may occur.

In addition, the disassembly tool used in the prior art does not consider that in the process of hooking the tire, because the inner side of the tire bead is hooked, the airtight skirt edge of the tire bead extends inwards relative to the tire bead under the condition of stress, and when the tire is disassembled and rotated, for example, the hook does not have enough avoiding space, the airtight skirt edge contacted with the hook is subjected to larger pressure and friction force of the hook, so that damage can be caused.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention mainly provides a manipulator for disassembling and assembling a vehicle tire, which can adapt to the peripheral surface of a hub in the process of disassembling and assembling the tire.

In order to achieve the above purpose, the invention adopts the following technical scheme:

an adaptive tire removal and installation manipulator, comprising: an operating head having a hooked free end; a robotic arm for driving the operating head between a disengaged position and a working position; a power device for providing power to the mechanical arm; and a mechanical arm limit guide device related to the tire dismounting robot, wherein the operating head is provided with a force structure for enabling the back surface (the other surface of the working surface of the operating head is taken as the back surface) to be self-adaptively attached to the peripheral outline of the hub in the process of extending into and/or withdrawing from the peripheral outline surface of the hub, and the force structure at least comprises a first pin for enabling the other end of the operating head opposite to the free end to be hinged with the mechanical arm, and the wrist-like self-adaptive swinging capability of the operating head is realized through hinging.

For the vertical tire dismounting robot, the whole tire is arranged on a vertical plane, so when the tire dismounting position of the operating head is positioned at the upper part of the tire, the working surface of the operating head faces upwards, and then the self gravity structure of the operating head is taken as a part of the force structure, so that the operating head is jointly promoted to adaptively follow the concave-convex changing peripheral profile surface of the hub in the process of extending into and/or withdrawing from the peripheral profile surface of the hub.

When the tyre disassembling position of the operating head is located at the lower part of the tyre, the working surface of the operating head faces downwards, the operating head extends downwards (towards the tyre side) due to self-gravity, so that the operating head is far away from the hub, and the force structure further comprises a reverse elastic structure arranged for overcoming the self-gravity of the operating head.

Furthermore, the reverse elastic structure may be a tension spring, two ends of the tension spring are respectively connected to the back sides of the mechanical arm and the operation head, and of course, any other structure capable of overcoming gravity and realizing elastic pivoting of the operation head may be used, and the tension spring in the embodiment can effectively avoid contacting the hub and the tire at the back side of the operation head.

In order to realize the protection of tire beads, the invention also provides a self-adaptive tire dismounting manipulator, wherein the end face of the hook-shaped free tail end of the operating head is an arc surface, namely, the shape of the operating head is kept relatively consistent with the shape of the inner side of the hooked tire bead of the hooked coated steel wire part, and the damage to the hooking position of the inner side of the tire bead can be effectively reduced.

Furthermore, the two sides of the hook-shaped free end of the operating head are also provided with avoidance grooves, which are mainly used for avoiding the airtight skirt edges of the tire, because after the inner side of the tire bead is stressed, the airtight skirt edges at the end part of the tire bead generate a force opposite to the pulling force direction of the operating head and extend towards the direction of the operating head, and after the tire rotates, the airtight skirt edges and the operating head generate a mutual resistance force and generate a larger friction force, so that the airtight skirt edges are damaged, and the tire is damaged.

Still further, in order to realize the rotation-translation motion of the operation head, the invention also provides a self-adaptive tire dismounting manipulator, wherein the mechanical arm is connected with the power device through a second pin at a position far away from the operation head end, namely the power device drives the mechanical arm, and the mechanical arm drives the operation head to move again.

Specifically: the mechanical arm is hinged with a floating joint arranged at the power output end of the power device through a second pin at a position far away from the operation head end. The floating joint enables the power device to have a certain degree of freedom of movement, and flexible driving is achieved.

In order to realize a reasonable movement curve of the operating head, the mechanical arm limiting and guiding device at least comprises two vertical walls with the same structure, and at least one curve groove for guiding and engaging the second pin is arranged on the vertical walls.

Of course, in order to further enhance the stability and precision of driving, the mechanical arm limiting guide device at least comprises two vertical walls with the same structure, at least two curved grooves for guiding and engaging the first pin and the second pin are arranged on the vertical walls, at least one curved groove is a special-shaped curved groove, the special-shaped curved groove has an inflection point in the course, and the directions of the front part and the rear part of the inflection point are opposite.

As another embodiment of the present invention, the mechanical arm includes at least two joints, and the two joints are hinged by a third pin. And an auxiliary pin is further arranged on at least one joint of the mechanical arm.

Correspondingly, the mechanical arm limiting guide device at least comprises two vertical walls with the same structure, wherein at least two curved grooves used for guiding and meshing the third pin and the auxiliary pin are arranged on the vertical walls, at least one curved groove is a special-shaped curved groove, the special-shaped curved groove has an inflection point in the course, and the directions of the front part and the rear part of the inflection point are opposite.

Still further, for a mechanical arm having two joints, the driving mode of the power device may be changed correspondingly, for example: the joint of the mechanical arm connected with the power device is also provided with a joint guide groove, and the power output end of the power device is connected with the mechanical arm by penetrating a fourth pin in the joint guide groove.

At this time, the vertical wall is also provided with a driving guide groove, and the driving guide groove and the joint guide groove are meshed through a fourth pin after being crossed. And the end of the joint connected with the power device is hinged on the vertical wall through a fifth pin.

In addition, in the invention, the driving mode of the power device can be electric, pneumatic or hydraulic driving.

Advantageous effects

Compared with the prior art, the invention has the following advantages:

(1) According to the invention, the operating head of the tire dismounting manipulator is designed to have a degree of freedom, so that the operating head can be well adaptive to the curved surface of the outer peripheral surface of the wheel hub, on one hand, the operating head is effectively protected from damaging the wheel hub, and in addition, the success rate of hooking the tire bead by the operating head can be effectively improved (the operating head can be ensured to move forward against the wheel hub, and the failure of tire detachment caused by the fact that the operating head is propped against the tire and cannot extend into a gap generated by the tire and the wheel hub is avoided);

(2) The special design of the avoidance groove and the end face of the manipulator further effectively prevents the possible damage of the manipulator to the tire;

(3) The special structural designs of the mechanical arm limiting guide device, the mechanical arm, the manipulator and the like are well matched with each other, so that the tire dismounting efficiency is greatly improved, and the full automation degree of tire dismounting is effectively ensured;

(4) The invention has simple structure and low cost, effectively overcomes the defects existing in the prior art, and has high market application value.

Drawings

FIG. 1 is a schematic illustration of a wheel construction;

FIG. 2 is a schematic diagram of a first embodiment of the present invention;

FIG. 3 is a schematic view of a partial structure of a first embodiment of the present invention;

FIG. 4 is a schematic diagram of a second embodiment of the present invention;

FIG. 5 is a schematic view of a partial structure of a second embodiment of the present invention;

fig. 6 is a schematic structural view of a third embodiment;

fig. 7 is a schematic view of a partial structure of a tire.

The main reference numerals in the figures are as follows:

1. operating head

2. Mechanical arm

3. Power plant

4. Mechanical arm limiting and guiding device

5. First pin

6. Reverse elastic structure

7. Tension spring

8. End face

9. Avoidance groove

10. Second pin

11. Floating joint

12. Vertical wall

13. Third pin

14. Auxiliary pin

15. Joint guide groove

16. Driving guide groove

17. Fifth pin

18. Shoulder part

19. Annular groove

20. Tire lip

21. Airtight skirt

22. Inboard of the bead

23. First curved groove

24. Second curved groove

25. First joint

26. Second joint

27. Fourth pin

W, wheel hub

T, tire.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "back", "rear", "front", "rear", "outside", "inside", "front", "rear", "upper", "lower", "vertical", "lateral", etc. are directions or positional relationships based on those shown in the drawings, or directions or positional relationships in which the inventive product is conventionally put in use, are merely for convenience of describing the present invention and for simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature may include first and second features directly contacting each other, either above or below a second feature, or through additional features contacting each other, rather than directly contacting each other. Moreover, the first feature being above, over, and on the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being below, beneath, and beneath the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is less level than the second feature.

In this embodiment, an invention patent ZL 2021104345665 (a vertical tire attaching/detaching robot) filed by the inventor is taken as a main body device of the tire attaching/detaching robot according to the present invention, and the entire tire is disposed in a vertical plane with respect to the vertical tire attaching/detaching robot. The tire dismounting manipulator is integrally related to a frame of a vertical tire dismounting robot. Because the specific structure of the vertical tire assembling and disassembling robot belongs to the prior art, the description of the specific structure will not be repeated in the invention.

Fig. 2 is a schematic structural view of a first embodiment of the present invention, and fig. 3 is a schematic partial structural view of the first embodiment of the present invention.

As shown in fig. 2 and 3: self-adaptation tire dismouting manipulator includes: an operating head 1 having a hooked free end; a mechanical arm 2 for driving the operation head 1 to move between a disengaged position and a working position; the power device 3 for providing power to the mechanical arm 2, in this embodiment, the power device 3 is a cylinder, and of course, it may be replaced by an electric or hydraulic power device; and a mechanical arm limit guide 4 associated with the tire mounting and dismounting robot.

The other end of the operating head 1 opposite to the free end is hinged with the mechanical arm 2 through a first pin 5, the mechanical arm 2 is hinged with a floating joint 11 arranged at the power output end of the power device 3 through a second pin 10 at a position far away from the operating head end, and the power device 3 has a certain degree of freedom of movement due to the arrangement of the floating joint 11, so that flexible driving of the mechanical arm 2 is realized.

In order to realize the rotation-translation motion of the operating head 1, the mechanical arm limiting guide device 4 comprises two vertical walls 12 with the same structure (which are arranged in parallel in a direction close to the vertical direction), two curved grooves which are respectively a first curved groove 23 and a second curved groove 24 are correspondingly arranged on the vertical walls 12, the second curved groove 24 is a special-shaped curved groove, an inflection point is arranged in the course, and the directions of the front part and the rear part of the inflection point are opposite. The first pin 5 is arranged in a first curved slot 23 for guiding and engaging said first pin 5, while the second pin 10 is arranged in a second curved slot 24 for guiding and engaging said second pin 10, the arrangement of the hyperbolic slot further enhancing the stability and accuracy of the rotation-translation movement of the operating head 1.

Fig. 4 is a schematic structural diagram of a second embodiment of the present invention, and fig. 5 is a schematic partial structural diagram of the second embodiment of the present invention.

As shown in fig. 4 and 5, the adaptive tire mounting and dismounting robot also includes:

an operating head 1 having a hooked free end; a mechanical arm 2 for driving the operation head 1 to move between a disengaged position and a working position; a power unit 3 for supplying power to the robot arm 2; and a mechanical arm limit guide 4 associated with the tire mounting and dismounting robot.

In this embodiment, the other end of the operating head 1 opposite to the free end is hinged to the mechanical arm 2 through a first pin 5, while the mechanical arm 2 includes two joints, namely a first joint 25 and a second joint 26, and the first joint 25 and the second joint 26 are hinged through a third pin 13, where the first joint 25 is hinged to the operating head 1, the first joint 25 is further provided with an auxiliary pin 14, the second joint 26 is further provided with a joint guide slot 15, and the end of the second joint 26 is hinged to the mechanical arm limiting guide device 4 through a fifth pin 17.

In the present embodiment, the power unit 3 is also a cylinder; the mechanical arm limiting guide device 4 also comprises two vertical walls 12 with the same structure, two curved grooves respectively used for guiding and engaging the third pin 13 and the auxiliary pin 14 are arranged on the vertical walls 12, wherein the curved grooves engaging the third pin 13 are special-shaped curved grooves, namely, the special-shaped curved grooves have inflection points in the course, the directions of the front part and the rear part of the inflection points are opposite, meanwhile, a driving guide groove 16 is further formed in the vertical walls 12, the driving guide groove 16 and the joint guide groove 15 are engaged through a fourth pin 27 after being arranged in a crossing manner, namely, the power output end of the air cylinder is hinged with the mechanical arm 2 through penetrating the fourth pin 27 in the joint guide groove 15, and the structure enables the power output end of the air cylinder to effectively drive the second joint 26 to rotate.

Both the first embodiment and the second embodiment described above, because the other end of the operating head 1 opposite to the free end is hinged to the mechanical arm 2, the operating head 1 has a force structure for enabling the back surface of the operating head 1 to adaptively fit the peripheral contour of the hub W during the process of extending into and/or withdrawing from the peripheral contour of the hub W, and the gravity structure of the operating head 1 itself is utilized synchronously, but it is inevitable that the force structure is suitable for ensuring that the working surface of the operating head 1 faces upward when the tire is positioned at the upper portion of the tire, and then the gravity structure of the operating head 1 itself is used as a part of the force structure to provide a force guarantee for the operating head 1 to adaptively follow the concave-convex changing peripheral contour of the hub W.

While when the tire removing position of the operating head 1 is located at the lower portion of the tire T, with the working face of the operating head 1 facing downward, the operating head 1 extends downward (toward the tire side) due to its own weight, so that the operating head 1 is away from the hub, and in order to solve the above-described problem, the present invention also provides a third embodiment.

Fig. 6 is a schematic structural view of the third embodiment.

As shown in fig. 6: the specific structure of the operating head 1 in different operating directions is mainly described in this embodiment, so other parts are basically the same as those described in the first embodiment and the second embodiment, and as in this embodiment, the base structure of the dismounting manipulator in the second embodiment is supported, and therefore, the other parts will not be described again.

The force structure for the operating head 1 further comprises a reverse elastic structure 6 provided to overcome the self-weight of the operating head 1, specifically: the reverse elastic structure 6 is a tension spring 7, two ends of the tension spring 7 are respectively connected to the back surfaces of the mechanical arm 2 and the operating head 1, and of course, any other structure capable of overcoming gravity and realizing elastic pivoting of the operating head 1 can be adopted, and the tension spring 7 in the embodiment can effectively avoid contacting the hub W and the tire T at the back surface portion of the operating head 1.

Fig. 7 is a schematic view of a partial structure of a tire.

As shown in fig. 7, when the inner side 22 of the bead of the tire T is forced, the sealing skirt 21 at the end of the bead generates a force F2 opposite to the pulling force F1 of the operating head 1 and extends in the direction of the operating head 1, and when the tire T rotates, the sealing skirt 21 and the operating head 1 tend to generate a force against each other and a large friction force F, so that the sealing skirt 21 is damaged and the tire T is damaged.

Therefore, the two side surfaces of the hook-shaped free end of the operating head 1 are also provided with the avoidance grooves 9, which are mainly used for avoiding the airtight skirt 21 of the tire T, so that the damage to the airtight skirt 21 is effectively avoided.

In order to further protect the tire bead, the end face 8 of the hook-shaped free end of the operating head 1 applied by the invention can be designed into an arc surface, namely, the shape of the inner side 22 of the tire bead is kept relatively consistent with and is attached to the hooked position of the hooked coated steel wire part, so that the damage to the hooked position of the inner side 22 of the tire bead can be effectively reduced.

The foregoing has outlined rather broadly the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, but rather, the foregoing embodiments and description illustrate the principles of the invention, and that various changes and modifications may be effected therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims

1. An adaptive tire removal and installation manipulator, comprising:

an operating head (1) with a hooked free end;

a mechanical arm (2) for driving the operating head to move between a disengaged position and a working position;

a power device (3) for supplying power to the mechanical arm (2);

a mechanical arm limiting guide device (4) related to the tire dismounting robot,

the mechanical arm (2) comprises two joints, namely a first joint (25) and a second joint (26), wherein the first joint (25) and the second joint (26) are hinged with the operation head (1) through a third pin (13), an auxiliary pin (14) is further arranged on the first joint (25), a joint guide groove (15) is further formed on the second joint (26), and the tail end of the second joint (26) is hinged with the mechanical arm limiting and guiding device (4) through a fifth pin (17).

2. An adaptive tyre mounting and dismounting manipulator according to claim 1, characterized in that said force structure further comprises a counter-elastic structure (6) provided to overcome the own weight of the operating head (1).

3. The self-adaptive tire dismounting manipulator according to claim 2, wherein the reverse elastic structure (6) is a tension spring (7), and two ends of the tension spring (7) are respectively connected to the back surfaces of the manipulator (2) and the operation head (1).

4. The self-adaptive tire dismounting manipulator according to claim 1, wherein the end face (8) of the hook-shaped free end of the operating head (1) is an arc face.

5. An adaptive tire mounting and dismounting manipulator according to claim 1 or 4, characterized in that the two sides of the hook-shaped free end of the operating head (1) are further formed with a relief groove (9).

6. The self-adaptive tire dismounting manipulator according to claim 1, wherein the mechanical arm limiting guide device (4) at least comprises two vertical walls (12) with the same structure, the vertical walls (12) are at least provided with two curved grooves for guiding and engaging the third pin (13) and the auxiliary pin (14) respectively, at least one curved groove is a special-shaped curved groove, the special-shaped curved groove has an inflection point in the course, and the directions of the front part and the rear part of the inflection point are opposite.

7. The self-adaptive tire dismounting manipulator according to claim 6, wherein the power output end of the power device (3) is connected with the mechanical arm (2) by penetrating a fourth pin (27) in the joint guide groove (15).

8. The self-adaptive tire dismounting manipulator as claimed in claim 7, wherein the vertical wall (12) is further provided with a driving guide groove (16), and the driving guide groove (16) and the joint guide groove (15) are engaged through a fourth pin (27) after being arranged in a crossing manner.

9. An adaptive tyre-removing manipulator according to claim 8, characterized in that the end of the joint connected to the power unit (3) is hinged to said vertical wall (12) by means of a fifth pin (17).

10. The self-adaptive tire dismounting manipulator according to claim 1, wherein the driving mode of the power device (3) is electric, pneumatic or hydraulic driving.