CN117901062A

CN117901062A - Tire assembly manipulator

Info

Publication number: CN117901062A
Application number: CN202410230666.XA
Authority: CN
Inventors: 张秀丽; 李凡; 刘欣昊; 付甲; 吴永乐; 王少良; 杜辉; 梁林
Original assignee: Dongfeng Huashen Motor Co Ltd
Current assignee: Dongfeng Huashen Motor Co Ltd
Priority date: 2024-02-29
Filing date: 2024-02-29
Publication date: 2024-04-19

Abstract

The application relates to a tire assembly manipulator, comprising: the device comprises a moving unit, a power-assisted mechanical arm and a control unit, wherein the moving unit comprises a track mechanism, a longitudinal follower and a transverse follower, and the longitudinal follower and the transverse follower are connected with the track mechanism; the power-assisted mechanical arm is connected with the longitudinal follower mechanism and the transverse follower mechanism, and a tire clamping space is formed in the power-assisted mechanical arm; the control unit is connected with the moving unit and the power-assisted mechanical arm so as to control the longitudinal follower mechanism and the transverse follower mechanism to drive the power-assisted mechanical arm to move relative to the track mechanism. According to the application, the tire is clamped by the power-assisted mechanical arm, and the longitudinal follower and the transverse follower are controlled by the control unit to drive the power-assisted mechanical arm to synchronously move along with the main line of the production line, so that the tires with different specifications on the mixed flow line can be rapidly, accurately and easily carried.

Description

Tire assembly manipulator

Technical Field

The application relates to the technical field of tire assembly, in particular to a tire assembly manipulator.

Background

Traditional commercial car assembly line, after the tire was sent to the assembly line limit through the tire transfer chain, by artifical through lifting hook formula hoist centre gripping tire rim rethread manual work pulling KPK with the tire remove axle wheel hub mounted position, need the manual work to put the tire vertical after rotating suitable position on the ground with the cooperation of the light key of wheel hub again to clamp the tire again and follow the line again and assemble. The manual operation is loaded down with trivial details, and working strength is big, and is inefficiency, easily produces anchor clamps fish tail rim and the potential safety hazard that easily takes place the tire to drop at the in-process of removing and rotating the tire.

Disclosure of Invention

The application provides a tire assembling manipulator which can solve the problems that in the related art, manual operation is complicated, working intensity is high, efficiency is low, a clamp is easy to scratch a rim, and potential safety hazards of tire falling easily occur in the process of moving and rotating the tire.

The application provides a tire assembly manipulator, comprising: the device comprises a moving unit, a power-assisted mechanical arm and a control unit, wherein the moving unit comprises a track mechanism, a longitudinal follower and a transverse follower, and the longitudinal follower and the transverse follower are connected with the track mechanism; the power-assisted mechanical arm is connected with the longitudinal follower mechanism and the transverse follower mechanism, and a tire clamping space is formed in the power-assisted mechanical arm; the control unit is connected with the moving unit and the power assisting mechanical arm so as to control the longitudinal follower mechanism and the transverse follower mechanism to drive the power assisting mechanical arm to move relative to the track mechanism.

In some embodiments, the longitudinal follower comprises: the device comprises a track frame, a driving assembly and a first friction wheel, wherein the track frame is in sliding connection with a track mechanism; the driving component is arranged on the track frame; the first friction wheel is in rolling contact with the track mechanism, and the driving assembly is connected with the first friction wheel to control the first friction wheel to drive the track frame to move relative to the track mechanism.

In some embodiments, the drive assembly comprises: the first variable frequency motor is arranged on the track frame and is connected with the first friction wheel through a connecting piece; the first clutch mechanism is arranged on the track frame and connected with the first friction wheel.

In some embodiments, the longitudinal follower is movably disposed on the track mechanism; the transverse follower is movably arranged on the longitudinal follower.

In some embodiments, the transverse follower comprises: the connecting body frame, the second friction wheel, the second variable frequency motor and the second clutch mechanism are connected with the longitudinal following mechanism through a second pulley block; the second friction wheel is arranged on the connecting body frame and is in rolling contact with the longitudinal follower mechanism; the output shaft of the second variable frequency motor is fixedly connected with a second friction wheel; the second clutch mechanism is connected with a second friction wheel.

In some embodiments, the power assist manipulator includes: an operating device for gripping the tyre and a balancing device; the balancing device is arranged between the operating device and the moving unit and is used for guaranteeing the online balance after the operating device clamps the tire.

In some embodiments, the balancing device comprises: the device comprises a base, a sleeve host and a mechanical arm, wherein the base is connected with a mobile unit; the sleeve host is arranged on the base through a connecting bracket; the mechanical arm is arranged at the bottom end of the sleeve main machine, a balancer and a cylinder body are arranged between the mechanical arm and the sleeve main machine, and the cylinder body is used for driving the mechanical arm to move along the length extending direction of the sleeve main machine.

In some embodiments, the balancing device further comprises a travel stop fixed to the quill machine and located in the path of movement of the robotic arm.

In some embodiments, the operating device comprises: the clamping device comprises a clamp frame, a positioning clamping jaw, a positioning roller, a clamping cylinder, a pneumatic motor and a clamping jaw, wherein the clamp frame is connected with a balancing device; the positioning clamping jaw is fixed on the clamp frame; the positioning roller is arranged on the clamp frame, and a tire clamping space is formed between the positioning roller and the positioning clamping jaw; the clamping cylinder is connected with the positioning roller and used for driving the positioning roller to move; the pneumatic motor is arranged on the clamp frame; the clamping jaw is connected with an output shaft of a pneumatic motor, and the pneumatic motor is used for driving the tire to rotate through the clamping jaw.

In some embodiments, the operating device further comprises: the rotary member is arranged between the clamp frame and the balancing device and is used for driving the clamp frame to rotate; the photoelectric switch is mounted on the clamp frame.

The technical scheme provided by the embodiment of the application has the beneficial effects that:

The embodiment of the application provides a tire assembling manipulator, which clamps tires through a power-assisted manipulator, and drives the power-assisted manipulator to synchronously move along with a production line main line through a control unit controlling a longitudinal follower and a transverse follower, so that the tires with different specifications on a mixed flow line can be rapidly, accurately and easily carried.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of an overall structure (a first view angle) according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an overall structure (second view) according to an embodiment of the present application;

FIG. 3 is a schematic view of a track mechanism and a longitudinal follower provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a transverse follower provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a balancing device according to an embodiment of the present application;

FIG. 6 is a schematic view of an operating device (first view angle) according to an embodiment of the present application;

fig. 7 is a schematic diagram (second view) of an operating device according to an embodiment of the application.

In the figure: 1. a track mechanism; 11. a guide rail; 12. a first pulley block;

2. A longitudinal follower; 21. a track frame; 22. a motor bracket; 23. a first variable frequency motor; 24. a first friction wheel; 25. a first clutch mechanism; 26. a coupling; 27. a connecting rod; 28. a connecting rod support frame; 29. a bearing seat;

3. A transverse follower; 31. connecting the body frame; 32. a second pulley block; 33. a second variable frequency motor; 34. a second clutch mechanism; 35. a second friction wheel;

4. A power-assisted manipulator; 41. a balancing device; 411. a sleeve host; 412. a connecting bracket; 413. a base; 414. a balancer; 415. a mechanical arm; 416. a cylinder body; 417. a travel stop; 42. an operating device; 421. a rotary control cylinder; 422. a clamp frame; 423. positioning clamping jaws; 424. clamping jaws; 425. a clamping cylinder; 426. positioning rollers; 427. an optoelectronic switch; 428. a pneumatic motor; 429. operating a control box; 430. a handle assembly; 431. and (5) rotating the joint.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The embodiment of the application provides a tire assembling manipulator which can solve the problems that in the related art, manual operation is complex, working intensity is high, efficiency is low, a clamp is easy to scratch a rim, and potential safety hazards of tire falling easily occur in the process of moving and rotating the tire.

Referring to fig. 1 to 7, an embodiment of the present application provides a tire assembling robot including: the automatic power-assisted vehicle comprises a moving unit, an assisting manipulator 4 and a control unit, wherein the moving unit comprises a track mechanism 1, a longitudinal follower 2 and a transverse follower 3, and the longitudinal follower 2 and the transverse follower 3 are connected with the track mechanism 1; the power-assisted mechanical arm 4 is connected with the longitudinal follower mechanism 2 and the transverse follower mechanism 3, and a tire clamping space is formed in the power-assisted mechanical arm 4; the control unit is connected with the moving unit and the power assisting manipulator 4 to control the longitudinal follower 2 and the transverse follower 3 to drive the power assisting manipulator 4 to move relative to the track mechanism 1.

According to the application, the tire is clamped by the power-assisted mechanical arm 4, and the longitudinal follower 2 and the transverse follower 3 are controlled by the control unit to drive the power-assisted mechanical arm 4 to synchronously move along with the main line of the production line, so that the quick, accurate and easy carrying of tires with different specifications on the mixed flow line can be realized.

Referring to fig. 1 and 2, in the present embodiment, a longitudinal follower 2 is mounted on a track mechanism 1, a transverse follower 3 is mounted at the bottom end of the longitudinal follower 2, and a booster manipulator 4 is mounted at the bottom end of the transverse follower 3. The control unit controls the longitudinal follower 2, the transverse follower 3 and the power-assisted manipulator 4 to realize power-assisted carrying and assembly operation of the tire.

Referring to fig. 3, the track mechanism 1 includes a guide rail 11 and a first pulley group 12. The guide rail 11 may be made of an aluminum alloy. In the present embodiment, two guide rails 11 are provided, and a first pulley group 12 is slidably connected to each guide rail 11, and the longitudinal follower 2 is connected between the two first pulley groups 12. The number of the guide rails 11 and the first pulley group 12 can be set according to actual requirements, and the stability of the longitudinal follower 2 and the first pulley group 12 in the moving process is ensured.

On the basis of the above embodiment, in this embodiment, the longitudinal follower 2 is movably disposed on the track mechanism 1. Specifically, referring to fig. 3, the longitudinal follower 2 includes: a track frame 21, a drive assembly and a first friction wheel 24. The rail frame 21 is slidably connected to the rail mechanism 1, that is, the rail frame 21 is connected to the first pulley block 12, and when the rail frame 21 moves, the first pulley block 12 can be driven to slide on the guide rail 11.

The drive assembly is arranged on the track frame 21, and the first friction wheel 24 is in rolling contact with the track mechanism 1, i.e. the first friction wheel 24 is in rolling contact with the guide rail 11. The driving assembly is connected to the first friction wheel 24 to drive the track frame 21 to move relative to the track mechanism 1, so that when the driving assembly works, the driving assembly can drive the first friction wheel 24 to rotate, and further drive the track frame 21 to move.

In some embodiments, the drive assembly comprises: a first variable frequency motor 23 and a first clutch mechanism 25. In this embodiment, the purpose of the first variable frequency motor 23 to control the rotation of the first friction wheel 24 is to be able to adjust the rotation speed of the first friction wheel 24 so that the apparatus walks synchronously with the main line. The first variable frequency motor 23 is mounted on the track frame 21 and is connected with the first friction wheel 24 through a connecting piece, wherein the connecting piece comprises, but is not limited to, a coupler 26 and a connecting rod 27, and an output shaft of the first variable frequency motor 23 is connected with the first friction wheel 24 through the coupler 26 and the connecting rod 27. Further, in order to improve the stability of the installation of the first variable frequency motor 23, the motor bracket 22 is fixed on the track frame 21, and then the first variable frequency motor 23 is installed on the motor bracket 22; the track frame 21 is fixedly connected with a connecting rod support frame 28, a bearing seat 29 is fixed on the connecting rod support frame 28, a connecting rod 27 is rotatably connected to the connecting rod support frame 28, and one end of the connecting rod 27 penetrates through an inner ring of the bearing seat 29 and then is fixed with the inner ring of the bearing seat 29. Therefore, when the first variable frequency motor 23 is operated, power can be transmitted to the first friction wheel 24 through the connecting rod 27 and the coupler 26, so that the longitudinal travelling mechanism 2 can longitudinally travel on the guide rail 11.

Further, the first clutch mechanism 25 is disposed on the track frame 21 and connected to the first friction wheel 24, wherein the first clutch mechanism 25 is connected to the track frame 21 through a bracket and a screw. The first friction wheel 24 is arranged on the first clutch mechanism 25, and the contact and separation of the first friction wheel 24 and the guide rail 11 can be realized by controlling the on-off of the air channel of the first clutch mechanism 25, so that the operation switching between automatic walking and manual walking is realized. Specifically, when the first friction wheel 24 contacts with the guide rail 11, the first variable frequency motor 23 can operate to enable the track frame 21 to automatically walk; when the first friction wheel 24 is separated from the guide rail 11, the rail frame 21 can be manually pushed to enable the rail frame 21 to manually walk, so that the device is flexible in operation mode and improves the operation reliability of equipment.

As shown in fig. 4, in the above embodiment, the transverse follower 3 is movably disposed on the longitudinal follower 2. Specifically, the transverse follower 3 includes: the body frame 31, the second friction wheel 35, the second variable frequency motor 33 and the second clutch mechanism 34 are connected.

Wherein the connecting body frame 31 is connected with the longitudinal follower mechanism 2 through a second pulley block 32. That is, the second pulley block 32 is slidably connected to the track frame 21, and the connection body frame 31 is fixed to the bottom end of the second pulley block 32, so that the connection body frame 31 can be driven to move on the track frame 21 when the second pulley block 32 moves.

The second friction wheel 35 is disposed on the connecting body frame 31 and is in rolling contact with the longitudinal follower mechanism 2. Specifically, the second friction wheel 35 is fixed on the connecting body frame 31 and is in rolling connection with the track frame 21, and the connecting body frame 31 is driven to move by rolling of the second friction wheel 35. Because the output shaft of the second variable frequency motor 33 is fixedly connected with the second friction wheel 35, the second variable frequency motor 33 can drive the second friction wheel 35 to rotate when running, so as to realize transverse walking on the track frame 21. The synchronous speed regulation of the electric appliance in the device and the electric appliance on the main line is realized through the control of the control unit, so that the equipment and the main line walk synchronously, and the tire assembly and alignment operation is simple and easy. The second variable frequency motor 33 is assembled on the connecting body frame 31 through bolts, the second friction wheel 35 is installed on the output shaft of the second variable frequency motor 33, and in other cases, the coupling 26 can be further connected between the second friction wheel 35 and the output shaft of the second variable frequency motor 33, so as to prolong the distance between the second friction wheel 35 and the second variable frequency motor 33.

The second clutch mechanism 34 is mounted on the connection body frame 31 by bolts and is connected to the second friction wheel 35. The second friction wheel 35 is arranged on the second clutch mechanism 34, and the contact and separation of the second friction wheel 35 and the track frame 21 are realized by controlling the on-off of the air channel of the second clutch mechanism 34, so that the operation switching between automatic walking and manual walking is realized. Wherein, when the second friction wheel 35 contacts with the track frame 21, the connecting body frame 31 can automatically walk through the operation of the second variable frequency motor 33; when the second friction wheel 35 is separated from the track frame 21, the connecting body frame 31 can be manually pushed to enable the connecting body frame 31 to manually walk, so that the device is flexible in operation mode and improves the operation reliability of equipment.

Referring to fig. 5, 6 and 7, in this embodiment, the power-assisted manipulator 4 includes: the operating means 42 and the balancing means 41. Said operating means 42 are intended to grip the tyre; the balancing device 41 is disposed between the operating device 42 and the moving unit, and is used for ensuring the on-line balance after the operating device 42 clamps the tire.

The balancing device 41 is a main body of the power-assisted robot 4, and is a main mechanism for realizing force balance. Specifically, the balancing device 41 includes: a base 413, a cannula host 411, and a robotic arm 415. The base 413 is connected to the moving unit, more specifically, the base 413 is mounted on the connection body frame 31 of the transverse follower 3 by bolts, so that the base 413 can be driven to move when the connection body frame 31 moves. The base 413 is also provided with a sleeve host 411, wherein the bottom end of the sleeve host 411 is arranged on the base 413 through a connecting bracket 412 after penetrating through the middle part of the base 413. The mechanical arm 415 is disposed at the bottom end of the casing main unit 411, a balancer 414 and a cylinder body 416 are disposed between the mechanical arm 415 and the casing main unit 411, the top end and the bottom end of the balancer 414 are respectively hooked on the base 413 and the mechanical arm 415, and the top end and the bottom end of the cylinder body 416 are also respectively mounted on the base 413 and the mechanical arm 415. The cylinder body 416 is provided for driving the mechanical arm 415 to move along the length extension direction of the bushing main body 411, so that the mechanical arm 415 can be adjusted in the height direction.

The mechanical arm 415 is further provided with a pneumatic control box of the pneumatic control module, the pneumatic control box of the pneumatic control module is connected with the cylinder body 416, and the pneumatic control box of the pneumatic control module is used for carrying out load conversion so as to control the cylinder body 416 to operate to realize up-and-down movement of the mechanical arm.

The balancer 414 can balance the weight of the power-assisted manipulator 4 and the workpiece, so that the power-assisted manipulator 4 can realize balance in the loaded and unloaded state, and an operator can be in a relaxed working state all the time, thereby achieving the aim of saving labor. The balancer 414 uses the principles of load detection and air pressure feedback to automatically balance the lifted workpiece (i.e., the tire in this embodiment) so that the workpiece is in a "floating" state. The pneumatic system of the balancer 414 is composed of a balancing air path, a load-to-load conversion logic air path, an operating air path and a safety air path. The balancing air circuit is used for balancing the weight of the operating device 42 and the tire, and the load conversion logic air circuit enables the power-assisted manipulator 4 to realize balance in a loaded and unloaded state.

Further, the balancing device 41 further includes a travel stop 417, the travel stop 417 is fixed on the casing main machine 411 and located on a moving path of the mechanical arm 415, when the mechanical arm 415 moves to a certain position, the travel stop 417 stops the mechanical arm 415 from moving continuously, and the travel of the mechanical arm 415 moving up and down is limited by the travel stop 417, so that the balancing device is safe and efficient.

Further, the operating device 42 includes: a clamp frame 422, a positioning jaw 423, a positioning roller 426, a clamping cylinder 425, a pneumatic motor 428, and a clamping jaw 424.

Further, the jig frame 422 is connected to the balancing device 41, that is, to the robot arm 415. The positioning clamp 423 is fixed on the clamp frame 422 and positioned at the bottom end of the clamp frame 422, the positioning roller 426 is arranged on the clamp frame 422, and the positioning roller 426 is positioned above the positioning clamp 423 to form a tire clamping space with the positioning clamp 423.

In order to automatically clamp the tire, the setting operation device 42 further comprises a photoelectric switch 427, the photoelectric switch 427 is mounted on the clamp frame 422, when the tire falls from the conveying roller path to be in a standing state, the photoelectric switch 427 close to the tire enables the positioning clamping jaw 423 to be supported and positioned below the tire when sensing that the tire falls to a fixed position, the positioning roller 426 is positioned on the outer side surface of the tire, the clamping cylinder 425 is arranged on the clamp frame 422, and the control unit controls the clamping cylinder 425 to clamp the tire. The control unit includes an operation control box 429, a clamping button is mounted on the operation control box 429, and the clamping cylinder 425 can be controlled to work by pressing the clamping button.

Further, the operating device 42 further includes a rotating member disposed between the clamp frame 422 and the balancing device 41, and configured to drive the clamp frame 422 to rotate. The swivel member includes a swivel joint 431 and a swivel control cylinder 421, and the jig frame 422 is connected to the robot arm 415 through the swivel joint 431. A centering button is mounted on the operation control box 429, and the centering button is pressed to control the revolving control cylinder 421 to drive the revolving joint 431 to revolve the clamp frame 422 to be parallel to the upper line mounting surface. In addition, the operation control box 429 is further provided with a follower button, and further the mechanical arm 415 can be controlled to move along the main line at the same speed by operating the follower button on the control box 429.

The pneumatic motor 428 is arranged to be mounted on the clamp frame 422, the clamping jaw 424 is connected with an output shaft of the pneumatic motor 428, and the pneumatic motor 428 is used for driving the tire to rotate through the clamping jaw 424. Specifically, a rotary button is arranged on the operation control box 429, the operation of the pneumatic motor 428 is controlled by the rotary button on the operation control box 429, and the pneumatic motor 428 drives the clamping jaw 424 to rotate when in operation so as to drive the tire to rotate, so that the matching of the light and heavy points during the assembly with the hub is realized, the alignment assembly operation of bolts is facilitated, and the rapid, accurate and assembly operation of the tire is realized.

Further, grooves are formed on the clamping jaw 424 and the positioning jaw 423, so that friction force between the tire and the clamping jaw during rotation is increased. The output shaft of the pneumatic motor 428 is connected to a clamping shaft, and the clamping jaw 424 is connected to the clamping shaft and is fixedly mounted to the clamping shaft in a non-rotatable manner. It should be noted that, the positioning clamping jaw 423 is connected to the fixture frame 422 through a connecting shaft, that is, the connecting shaft is fixed to the fixture frame 422, the positioning clamping jaw 423 is sleeved on the connecting shaft, and the positioning clamping jaw 423 and the connecting shaft can rotate relatively, so that when the tire rotates, the positioning clamping jaw 423 can rotate together with the tire.

Further, a return button is further provided on the operation control box 429, and when the alignment and assembly of the tire and the hub are completed, the power-assisted manipulator 4 is controlled to return to the original position to start the next cycle operation by operating the return button on the control box 429.

Further, a handle assembly 430 is fixedly connected to the clamp frame 422, and when the power-assisted robot 4 is required to manually move, the clamp frame 422 can be moved to the tire on-line assembly position through the handle assembly 430.

In conclusion, the device adopts the track mechanism 1 that high strength lightweight aluminum alloy was made, and cooperation vertical follower 2 and horizontal follower 3 can make helping hand manipulator 4 vertical, lateral shifting, utilizes the network communication to realize electric synchronous speed governing and lets equipment and main line walk in step, and helping hand manipulator 4 can adjust the position in the direction of height, has realized on the mixed flow line quick, accurate, light transport and quick counterpoint assembly operation of different specification tires.

In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" 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 application can be understood by those of ordinary skill in the art according to the specific circumstances.

It should be noted that in the present application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tire assembling manipulator, comprising:

The mobile unit comprises a track mechanism (1), a longitudinal follower mechanism (2) and a transverse follower mechanism (3), wherein the longitudinal follower mechanism (2) and the transverse follower mechanism (3) are connected with the track mechanism (1);

the tire clamping device comprises a power-assisted mechanical arm (4), wherein the power-assisted mechanical arm (4) is connected with a longitudinal follower (2) and a transverse follower (3), and a tire clamping space is formed in the power-assisted mechanical arm (4);

the control unit is connected with the moving unit and the power assisting manipulator (4) to control the longitudinal follower mechanism (2) and the transverse follower mechanism (3) to drive the power assisting manipulator (4) to move relative to the track mechanism (1).

2. Tyre-assembling manipulator according to claim 1, wherein said longitudinal follower (2) comprises:

A track frame (21), the track frame (21) being in sliding connection with the track mechanism (1);

The driving assembly is arranged on the track frame (21);

the first friction wheel (24), the first friction wheel (24) is in rolling contact with the track mechanism (1), and the driving assembly is connected with the first friction wheel (24) to control the first friction wheel (24) to drive the track frame (21) to move relative to the track mechanism (1).

3. The tire assembly robot of claim 2, wherein the drive assembly comprises:

the first variable frequency motor (23), the first variable frequency motor (23) is installed on the track frame (21) and is connected with the first friction wheel (24) through a connecting piece;

The first clutch mechanism (25) is arranged on the track frame (21) and is connected with the first friction wheel (24).

4. The tire assembling robot of claim 1, wherein:

the longitudinal follower (2) is movably arranged on the track mechanism (1);

the transverse follower (3) is movably arranged on the longitudinal follower (2).

5. Tyre-assembling robot according to claim 4, wherein said transverse follower (3) comprises:

the connecting body frame (31), the connecting body frame (31) is connected with the longitudinal follower (2) through a second pulley block (32);

the second friction wheel (35) is arranged on the connecting body frame (31) and is in rolling contact with the longitudinal follower mechanism (2);

The output shaft of the second variable frequency motor (33) is fixedly connected with a second friction wheel (35);

and a second clutch mechanism (34), wherein the second clutch mechanism (34) is connected with a second friction wheel (35).

6. Tyre assembling manipulator according to claim 1, wherein said power-assisted manipulator (4) comprises:

-operating means (42), said operating means (42) being for gripping a tyre;

And a balancing device (41), wherein the balancing device (41) is arranged between the operating device (42) and the mobile unit and is used for ensuring the online balance after the operating device (42) clamps the tire.

7. Tyre assembling robot according to claim 6, wherein said balancing device (41) comprises:

-a base (413), the base (413) being connected to the mobile unit;

A sleeve host (411), wherein the sleeve host (411) is arranged on the base (413) through a connecting bracket (412);

The mechanical arm (415), mechanical arm (415) sets up in sleeve pipe host computer (411) bottom, be provided with balancer (414) and cylinder body (416) between mechanical arm (415) and sleeve pipe host computer (411), cylinder body (416) are used for driving mechanical arm (415) along sleeve pipe host computer (411) length extending direction removal.

8. The tire assembling robot of claim 7, wherein:

The balancing device (41) further comprises a travel stop (417), wherein the travel stop (417) is fixed on the bushing main machine (411) and is positioned on the moving path of the mechanical arm (415).

9. Tyre assembling manipulator according to claim 6, wherein said operating device (42) comprises:

A jig frame (422), the jig frame (422) being connected to the balancing device (41);

A positioning jaw (423), the positioning jaw (423) being fixed to the clamp frame (422);

The positioning roller (426) is arranged on the clamp frame (422), and a tire clamping space is formed between the positioning roller (426) and the positioning clamping jaw (423);

the clamping cylinder (425) is connected with the positioning roller (426) and used for driving the positioning roller (426) to move;

A pneumatic motor (428), the pneumatic motor (428) mounted on the clamp frame (422);

-a clamping jaw (424), the clamping jaw (424) being coupled to an output shaft of a pneumatic motor (428), the pneumatic motor (428) being adapted to drive the tyre in rotation by means of the clamping jaw (424).

10. The tire assembling robot of claim 9, wherein: the operating device (42) further comprises:

the rotary member is arranged between the clamp frame (422) and the balancing device (41) and is used for driving the clamp frame (422) to rotate;

and an optoelectronic switch (427), wherein the optoelectronic switch (427) is mounted on the fixture frame (422).