CN214026739U - Full-automatic manipulator for scraping rubber burrs of tire - Google Patents

Abstract

The utility model provides a scrape full-automatic manipulator of tire rubber deckle edge belongs to tire processing machinery field. The full-automatic manipulator for scraping the rubber burrs of the tire comprises a frame mechanism, a tire positioning mechanism, a moving and adjusting mechanism and a rubber edge cutter mechanical arm. The guardrail rollers are symmetrically arranged at the same horizontal position at two sides of the frame mechanism and the same horizontal position in the front and at the back of the frame mechanism. A side wall scraper is fixed at the front end of the second cylinder; the full-automatic manipulator can be attached to the surface of a rotating tire to slide a cutter head of the machine, and scrape off redundant rubber burrs and rubber edges on a tire surface along with the arc-shaped deflection angle of the tire; the shaft roller mechanism is arranged at the lower part of the frame mechanism, and the tire pressing roller mechanism is arranged at the upper part of the frame mechanism; when the tire rotates on the two rotating rollers, the tire is unbalanced, the problems of shaking, jumping and swinging are caused, the problem that the angle of a manual operation cutter is difficult to keep balance with the tire tread is solved, the tire tread is easy to damage, and potential safety hazards are easy to occur.

Description

Full-automatic manipulator for scraping rubber burrs of tire

Technical Field

The utility model relates to a tire processing machinery field particularly, relates to a scrape full-automatic manipulator of tire rubber deckle edge.

Background

At present, as the automobile holding capacity is increased year by year, the demand on tires is rapidly increased, but after the existing automobile tires are produced, a lot of needle-shaped and edge strip-shaped burrs are remained on the tire side, the aesthetic property of the tires is seriously affected, and the requirements of customers cannot be met.

The existing tire is influenced by a processing mold in the production process, redundant rubber burrs and rubber edges are left on the surface of the tire, the rubber burrs and the rubber edges must be removed according to the quality standard of the tire, and most of the existing tire manufacturers use manual hand-held cutters to remove the rubber burrs.

SUMMERY OF THE UTILITY MODEL

In order to compensate the above deficiency, the utility model provides a scrape full-automatic manipulator of tire rubber deckle edge aims at improving the problem at the bottom of the equal most artifical handheld cutter operation of current tire manufacture factory of improvement and removes to glue deckle edge, production efficiency.

The utility model discloses a realize like this:

the utility model provides a scrape full-automatic manipulator of tire rubber deckle edge, including frame mechanism, tire positioning mechanism, removal adjustment mechanism and rubber limit sword robotic arm.

Install the guardrail roller in the frame structure, the guardrail roller is provided with four, guardrail roller symmetry sets up same level position in frame structure both sides and same level position around and.

The tire positioning mechanism comprises a beam roller mechanism and a tire pressing roller mechanism, the beam roller mechanism is arranged at the lower part of the frame mechanism, and the tire pressing roller mechanism is arranged at the upper part of the frame mechanism.

The movable adjusting mechanism comprises a lifting frame mechanism, a transverse sliding table and an upper and lower sliding tables, wherein the transverse sliding table is fixed at the upper part of the lifting frame mechanism, and the upper and lower sliding tables are fixed on the side surface of the lifting frame mechanism and are positioned at the same horizontal position, and are symmetrically arranged on the same side surface; the tire side scraping device is characterized in that a first cylinder of a tire crown mechanical arm is vertically fixed on the transverse sliding table, a tire crown scraper is fixed at the front end of the first cylinder, a second cylinder of a tire side mechanical arm is connected to the upper sliding table and the lower sliding table in a sliding mode, and a tire side scraper is fixed at the front end of the second cylinder.

The rubber edge cutter mechanical arm comprises a third cylinder and rubber edge scrapers, the third cylinder is located on the upper portion of the beam wheel roller mechanism, the rubber edge scrapers are installed at the front end of the third cylinder, and the rubber edge scrapers are arranged on the same side face of the frame mechanism and are symmetrically arranged.

The utility model discloses an in the embodiment, the guardrail roller includes guardrail frame and running roller, the first cylinder of frame mechanism bilateral symmetry installation with the guardrail frame is connected, the frame mechanism is gone up the lower extreme and is equipped with linear slide rail, the guardrail frame is installed linear slide rail's expansion end, the running roller is installed guardrail frame upper end, running roller diameter 60 mm.

The utility model discloses an in the embodiment, thill wheel roller mechanism includes plane bearing roller and concave surface drive roll, plane bearing roller with the concave surface drive roll all is located same level in the frame mechanism, plane bearing roller is at the back, the concave surface drive roll sets up in the front, the cylinder push rod is installed to the frame mechanism, the push rod that the expansion end of cylinder push rod is connected with the dovetail sliding plate under the thill wheel roller mechanism bearing frame is connected.

The utility model discloses an in the embodiment, frame mechanism's both sides are provided with the transfer chain of advancing child direction respectively and go out the transfer chain of child direction, advance the transfer chain of child direction with the transfer chain that goes out the child direction is at same level.

In an embodiment of the present invention, a driving motor is fixedly installed at the bottom of the frame mechanism, and a driving shaft of the driving motor is in transmission connection with the concave surface driving roll; the bottom of the frame mechanism is provided with a vacuum suction fan, and scraped tire rubber hair is sucked into the collection container through a suction pipe; and a water spraying device is arranged to spray water to the trimming cutter heads of all the cutter blades to cool the cutter heads.

The utility model discloses an in the embodiment, press child running roller mechanism to include concave surface running roller and cylinder guide arm, the cylinder guide arm is installed frame mechanism upper portion, the expansion end in cylinder guide arm lower part is installed to the concave surface running roller, and press child running roller mechanism to set up crane mechanism is at the back.

The utility model discloses an in the embodiment, cylinder guide arm lower extreme is connected with tyre pressing roller carrier, the both sides of tyre pressing roller carrier are provided with the direction slide rail, the direction slide rail with frame mechanism fixed connection, the concave surface running roller is installed tyre pressing roller carrier lower extreme.

In an embodiment of the present invention, the lifting mechanism includes a lifting screw rod and a first servo motor, the lifting screw rod is screwed to the top of the frame mechanism, the first servo motor is fixed to the top of the frame mechanism, and the driving shaft of the first servo motor is connected to the lifting screw rod through a shaft coupling.

The utility model discloses an in the embodiment, the child hat scraper includes child hat sword frame and machine knife, machine knife fixed mounting is on child hat machine knife frame, the side wall scraper includes side wall machine knife frame and machine knife, machine knife fixed mounting be in on the side wall machine knife frame, the rubber edge scraper is including rubber edge sword frame and machine knife, the machine knife is fixed in the rubber edge sword frame.

The utility model discloses an in one embodiment, still include tire ejecting mechanism, tire ejecting mechanism is including promoting running roller and fourth cylinder, it installs to promote the running roller the expansion end of fourth cylinder, it is located to promote the running roller the position under the beam roller mechanism, it installs to promote the running roller the support upper end of frame mechanism bottom, and the support lower extreme is connected to the fourth cylinder.

The utility model has the advantages that: the utility model discloses a what above-mentioned design obtained scrapes full-automatic manipulator of tire rubber deckle edge:

1. the transverse sliding table is fixed at the upper part of the lifting frame mechanism, and the up-down sliding table is fixed on the side surface of the lifting frame mechanism and is positioned at the same horizontal position, and the same side surface is symmetrically arranged; a first cylinder of the tire crown mechanical arm is vertically fixed on the transverse sliding table, a tire crown scraper is fixed at the front end of the first cylinder, a second cylinder of the tire side mechanical arm is connected with the upper and lower sliding tables in a sliding manner, and a tire side scraper is fixed at the front end of the second cylinder; the method completely replaces the defects of intermittent manual cutter holding and hair scraping, improves the production efficiency, avoids the potential safety hazard of manual operation, solves the problem of tire tread damage, and greatly improves the appearance quality of the tire;

2. the full-automatic manipulator can be attached to the surface of a rotating tire to slide a cutter head of the machine, and scrape off redundant rubber burrs and rubber edges on a tire surface along with the arc-shaped deflection angle of the tire; the shaft roller mechanism is arranged at the lower part of the frame mechanism, and the tire pressing roller mechanism is arranged at the upper part of the frame mechanism; when the tire rotates on the two rotating rollers, the tire is unbalanced, has the problems of shaking, jumping and swinging, and eliminates the problems that the angle of a manual operation cutter is difficult to keep balance with the tire surface, the tire surface is easy to damage and the potential safety hazard is easy to occur;

3. the rubber edge cutter mechanical arm comprises a third cylinder and rubber edge scrapers, the third cylinder is positioned on the upper part of the beam wheel roller mechanism, the rubber edge scrapers are arranged at the front end of the third cylinder, the rubber edge scrapers are arranged on the same side surface of the frame mechanism and are symmetrically arranged, a cutter is attached to the tire surface to slide by utilizing the inertia principle generated when the tire rotates on the wheel roller at a high speed, redundant rubber edges of the tire surface are scraped, the rotating run-out of the tire can be reduced under the clamping of the wheel roller and the pressure roller, and no human intervention exists in the process; the labor intensity of manual operation is reduced, continuous production can be realized, the efficiency is improved, the risk of scratching the tire is greatly reduced when the rubber burrs are scraped, the consistency of tire trimming is ensured, and the appearance quality is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic front view structure diagram provided by an embodiment of the present invention;

fig. 2 is a schematic side view of the structure according to the embodiment of the present invention;

fig. 3 is a schematic perspective view of an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a position a in fig. 3 according to an embodiment of the present invention.

In the figure: 100. a frame mechanism; 110. a guardrail roller; 111. a guardrail frame; 113. a roller; 130. a conveyor line in the tire feeding direction; 150. a conveyor line in the tire discharging direction; 170. a drive motor; 300. a tire positioning mechanism; 310. a shaft roller mechanism; 311. a planar bearing roller; 313. a concave drive roll; 330. a tire pressing roller mechanism; 500. a movement adjustment mechanism; 510. a lifting frame mechanism; 511. a lifting screw rod; 530. a transverse sliding table; 531. a crown scraper; 550. an up-down sliding table; 551. a sidewall scraper; 700. a rubber edge cutter mechanical arm; 710. a third cylinder; 730. a rubber edge scraper; 900. a tire push-out mechanism; 910. pushing the roller; 930. and a fourth cylinder.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the utility model provides a. Embodiments, all other embodiments obtained by a person skilled in the art without any inventive step are within the scope of the present invention.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

Referring to fig. 1-4, the present invention provides a technical solution: a full-automatic manipulator for scraping rubber burrs of a tire comprises a frame mechanism 100, a tire positioning mechanism 300, a movable adjusting mechanism 500 and a rubber edge cutter mechanical arm 700.

The tire positioning mechanism 300 clamps and positions the tire, and the tire surface is processed by the movement adjusting mechanism 500 and the rubber edge cutter mechanical arm 700, so that the labor consumption is reduced, and the working efficiency is improved.

Referring to fig. 1, four guardrail rollers 110 are installed in the frame mechanism 100, and the guardrail rollers 110 are symmetrically arranged at the same horizontal position at two sides and the same horizontal position at the front and back of the frame mechanism 100;

in this embodiment, guardrail roller 110 includes guardrail frame 111 and running roller 113, the first cylinder of 100 bilateral symmetry installations of frame structure with guardrail frame 111 is connected, frame structure 100 is gone up the lower extreme and is equipped with linear slide rail, guardrail frame 111 is installed linear slide rail's expansion end, running roller 113 is installed guardrail frame 111 upper end, running roller 113 diameter 60mm prevents the tire slope, can follow the automatic expansion of tire width and contract left and right sides guardrail roller 110 distance.

In some embodiments, the frame mechanism 100 is provided with a tire feeding direction conveying line 130 and a tire discharging direction conveying line 150 on two sides, respectively, and the tire feeding direction conveying line 130 and the tire discharging direction conveying line 150 are at the same horizontal position.

Referring to fig. 1-3, the tire positioning mechanism 300 includes a beam roller mechanism 310 and a tire pressing roller mechanism 330, wherein the beam roller mechanism 310 is installed at the lower part of the frame mechanism 100, and the tire pressing roller mechanism 330 is installed at the upper part of the frame mechanism 100;

in an embodiment, the beam wheel roller mechanism 310 includes a plane bearing roller 311 and a concave driving roller 313, the plane bearing roller 311 and the concave driving roller 313 are both located at the same horizontal position in the frame mechanism 100, the plane bearing roller 311 is located at the rear, the concave driving roller 313 is located at the front, the frame mechanism 100 is provided with an air cylinder push rod, the push rod connected to the movable end of the air cylinder push rod is connected to a dovetail groove sliding plate below a bearing seat of the beam wheel roller mechanism 310, and the center distance of the roller shafts of the beam wheel roller mechanism 310 can be changed along with the diameter of a tire.

In some embodiments, a driving motor 170 is fixedly installed at the bottom of the frame mechanism 100, and a driving shaft of the driving motor 170 is in transmission connection with the concave driving roller 313, wherein a driving pulley is keyed on the driving shaft of the driving motor 170, a driven pulley is coaxially fixed at one end of the concave driving roller 313, and the driving pulley and the driven pulley are in transmission connection through a triangular belt; the bottom of the frame mechanism 100 is provided with a vacuum suction fan, and scraped tire rubber hair is sucked into a collection container through a suction pipe; and a water spraying device is arranged to spray water to the trimming cutter heads of all the cutter blades to cool the cutter heads.

It should be noted that the tire pressing roller mechanism 330 includes a concave roller and a cylinder guide rod, the cylinder guide rod is installed on the upper portion of the frame mechanism 100, the concave roller is installed on the movable end of the lower portion of the cylinder guide rod, and the tire pressing roller mechanism 330 is arranged behind the lifting frame mechanism 510.

In specific implementation, the lower end of the cylinder guide rod is connected with a tire pressing roller frame, guide sliding rails are arranged on two sides of the tire pressing roller frame and fixedly connected with the frame mechanism 100, and the concave roller is installed at the lower end of the tire pressing roller frame.

Referring to fig. 1-4, the movement adjusting mechanism 500 includes a lifting frame mechanism 510, a horizontal sliding table 530 and an up-down sliding table 550, wherein the horizontal sliding table 530 is fixed on the upper portion of the lifting frame mechanism 510, and the up-down sliding table 550 is fixed on the side surface of the lifting frame mechanism 510, and is located at the same horizontal position, and the same side surface is symmetrically arranged; a first cylinder of a crown mechanical arm is vertically fixed on the transverse sliding table 530, a crown scraper 531 is fixed at the front end of the first cylinder, a second cylinder of a sidewall mechanical arm is connected with the upper and lower sliding tables 550 in a sliding manner, and a sidewall scraper 551 is fixed at the front end of the second cylinder;

in this embodiment, the lifting frame mechanism 510 includes a lifting screw rod 511 and a first servo motor, the lifting screw rod 511 is screwed with the top of the frame mechanism 100, the first servo motor is fixed at the top of the frame mechanism 100, and a driving shaft of the first servo motor is fixedly connected with the lifting screw rod 511 through a coupler.

In some embodiments, the crown scraper 531 comprises a crown machine cutter holder and a machine cutter, the machine cutter is fixedly mounted on the crown machine cutter holder, the sidewall scraper 551 comprises a sidewall machine cutter holder and a machine cutter, the machine cutter is fixedly mounted on the sidewall machine cutter holder, the veneer scraper 730 comprises a veneer edge cutter frame and a machine cutter, and the machine cutter is fixed on the veneer edge cutter frame.

Referring to fig. 3-4, the slitter mechanical arm 700 includes a third cylinder 710 and slitter blades 730, the third cylinder 710 is located on the beam roller mechanism 310, the slitter blades 730 are installed at the front ends of the third cylinder 710, and the slitter blades 730 are symmetrically disposed on the same side of the frame mechanism 100.

In this embodiment, the tire ejecting mechanism 900 further includes a pushing roller 910 and a fourth cylinder 930, the pushing roller 910 is installed at the movable end of the fourth cylinder 930, the pushing roller 910 is located at the lower portion of the shaft roller mechanism 310, the pushing roller 910 is installed at the upper end of the support at the bottom of the frame mechanism 100, and the fourth cylinder 930 is connected to the lower end of the support.

In order to be suitable for various tire specifications, a measurement grating is adopted, under the control of a preset logic programming program, in a scanning mode, firstly, an identification system measures or identifies the tire appearance, the program is preset, a PLC program automatically controls the photoelectric sensor and the control system of each detection and monitoring system to accurately control, an execution mechanism and each mechanical arm finish preset actions, the execution mechanism is matched with a controller to realize the monitoring and measurement of the dimension of the tire body appearance, and after the tire appearance is acquired, each mechanism and each mechanical arm execute the edgeless repair and scraping work on the tire surface rubber; realizing the continuity effect and scraping off tread rubber fur and rubber edges.

The full-automatic manipulator for scraping the rubber burrs of the tire is connected between tire conveying lines, the tire automatically enters a trimming station, the trimming and the conveying are automatically performed, and the whole trimming process is free of manual interference. Half steel car tire list child trim time is in 20 seconds, and all steel truck child tire trim time is in 30 seconds, and aircraft tire trim time is in 30 seconds, and engineering vehicle tire trim time is the high efficiency productivity in 50 seconds, solves original artifical tool frictioning deckle edge's of holding drawback, improves tire appearance quality, and the even gluey deckle edge of tire surface rubber burr after repairing promptly scrapes the net rate and reaches 98% and do not hinder the tread. Potential safety hazards during manual operation are avoided, and production efficiency is improved.

The diameter of steel used for each manipulator is 32 mm, and the manipulator is matched with a precise pressure regulating valve to regulate the thrust.

In order to reduce the production cost, a tool bit fixed by a front tool rest of the manipulator is made of a tungsten-cobalt alloy material, and the durability of 10 ten thousand tires is effectively trimmed.

The side and the rear end of the trimming cutter head are provided with the rolling shafts to limit the friction between the cutting edge and the surface of the tire and ensure that the tire is not scratched.

The above embodiment is only to describe the preferred embodiment of the present invention, and is not to limit the concept and the protection scope of the present invention, and the ordinary engineering skilled in the art should fall into the protection scope of the present invention without departing from the design concept of the present invention.

This scrape full-automatic manipulator of tire rubber deckle edge's theory of operation: when the lifting device is used, the transverse sliding table 530 is fixed at the upper part of the lifting mechanism 510, and the up-down sliding table 550 is fixed at the side surface of the lifting mechanism 510 and is positioned at the same horizontal position, and the same side surface is symmetrically arranged; a first cylinder of a crown mechanical arm is vertically fixed on the transverse sliding table 530, a crown scraper 531 is fixed at the front end of the first cylinder, a second cylinder of a sidewall mechanical arm is connected with the upper and lower sliding tables 550 in a sliding manner, and a sidewall scraper 551 is fixed at the front end of the second cylinder; the automatic tire scraping machine has the advantages that a plurality of defects of intermittent manual cutter holding and hair scraping are completely overcome, production efficiency is improved, potential safety hazards of manual operation are avoided, the problem of tire tread damage is solved, and appearance quality of tires is greatly improved. The full-automatic manipulator can be attached to the surface of a rotating tire, slide a machine tool bit, change the angle along with the arc of the tire, cross the concave-convex and groove-shaped tread patterns and scrape off redundant rubber burrs and rubber edges on the tread; the shaft roller mechanism 310 is arranged at the lower part of the frame mechanism 100, and the tire pressing roller mechanism 330 is arranged at the upper part of the frame mechanism 100; when the tire rotates on the two rotating rollers, the tire is unbalanced, has the problems of shaking, jumping and swinging, and eliminates the problems that the angle of a manual operation cutter is difficult to keep balance with the tire surface, the tire surface is easy to damage and the potential safety hazard is easy to occur; the rubber edge cutter mechanical arm 700 comprises a third cylinder 710 and rubber edge scrapers 730, the third cylinder 710 is positioned at the upper part of the beam wheel roller mechanism 310, the rubber edge scrapers 730 are arranged at the front ends of the third cylinders 710, the rubber edge scrapers 730 are arranged on the same side surface of the frame mechanism 100 and are symmetrically arranged, a machine knife is attached to the tread to slide by utilizing the inertia principle generated when a tire rotates on the wheel roller at the linear speed, the redundant rubber edges of the tread are scraped, the rotation run-out of the tire can be reduced under the clamping of the wheel roller and the pressure wheel roller, and no human intervention exists in the process; the labor intensity of manual operation is reduced, continuous production can be realized, the efficiency is improved, the risk of scratching the tire is greatly reduced when the rubber burrs are scraped, the consistency of tire trimming is ensured, and the appearance quality is improved.

It should be noted that the specific model specifications of the servo motor, the driving motor 170, the first cylinder, the second cylinder, the third cylinder 710, and the fourth cylinder 930 need to be determined by type selection according to the actual specification of the device, and the specific type selection calculation method adopts the prior art in the field, and therefore detailed description is omitted.

The power supply of the servo motor and the driving motor 170 and the principle thereof will be apparent to those skilled in the art and will not be described in detail herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A full-automatic manipulator for scraping rubber burrs of a tire is characterized by comprising

The guardrail roller device comprises a frame mechanism (100), wherein guardrail rollers (110) are installed in the frame mechanism (100), the number of the guardrail rollers (110) is four, and the guardrail rollers (110) are symmetrically arranged at the same horizontal position on two sides of the frame mechanism (100) and the same horizontal position in the front and back;

the tire positioning mechanism (300), the tire positioning mechanism (300) includes a beam roller mechanism (310) and a tire pressing roller mechanism (330), the beam roller mechanism (310) is installed on the lower part of the frame mechanism (100), the tire pressing roller mechanism (330) is installed on the upper part of the frame mechanism (100);

the mobile adjusting mechanism (500) comprises a lifting frame mechanism (510), a transverse sliding table (530) and an upper and lower sliding table (550), the transverse sliding table (530) is fixed on the upper portion of the lifting frame mechanism (510), and the upper and lower sliding table (550) is fixed on the side face of the lifting frame mechanism (510) and is positioned at the same horizontal position, and the same side face is symmetrically arranged; a first cylinder of a crown mechanical arm is vertically fixed on the transverse sliding table (530), a crown scraper (531) is fixed at the front end of the first cylinder, a second cylinder of a sidewall mechanical arm is connected with the up-down sliding table (550) in a sliding manner, and a sidewall scraper (551) is fixed at the front end of the second cylinder;

the rubber edge cutter mechanical arm (700), the rubber edge cutter mechanical arm (700) comprises a third cylinder (710) and a rubber edge scraper (730), the third cylinder (710) is located on the upper portion of the beam wheel roller mechanism (310), the rubber edge scraper (730) is installed at the front end of the third cylinder (710), and the rubber edge scraper (730) is arranged on the same side face of the frame mechanism (100) and symmetrically arranged.

2. The full-automatic manipulator for scraping the rubber burrs of the tire according to claim 1, wherein the guardrail roller (110) comprises a guardrail frame (111) and a roller (113), the first air cylinders symmetrically installed on two sides of the frame mechanism (100) are connected with the guardrail frame (111), the upper end and the lower end of the frame mechanism (100) are provided with linear slide rails, the guardrail frame (111) is installed at the movable ends of the linear slide rails, the roller (113) is installed at the upper end of the guardrail frame (111), and the diameter of the roller (113) is 60 mm.

3. The full-automatic manipulator for scraping the rubber burrs of the tire according to claim 1, wherein the beam wheel roller mechanism (310) comprises a plane bearing roller (311) and a concave driving roller (313), the plane bearing roller (311) and the concave driving roller (313) are both located at the same horizontal position in the frame mechanism (100), the plane bearing roller (311) is arranged at the back, the concave driving roller (313) is arranged at the front, the frame mechanism (100) is provided with an air cylinder push rod, and a push rod connected with the movable end of the air cylinder push rod is connected with a dovetail groove sliding plate below a bearing seat of the beam wheel roller mechanism (310).

4. The full-automatic manipulator for scraping the tire rubber burrs according to claim 1, wherein a conveying line (130) in the tire feeding direction and a conveying line (150) in the tire discharging direction are respectively arranged on two sides of the frame mechanism (100), and the conveying line (130) in the tire feeding direction and the conveying line (150) in the tire discharging direction are at the same horizontal position.

5. The full-automatic manipulator for scraping the tire rubber burrs according to claim 3, wherein a driving motor (170) is fixedly installed at the bottom of the frame mechanism (100), and a driving shaft of the driving motor (170) is in transmission connection with the concave driving roller (313); the bottom of the frame mechanism (100) is provided with a vacuum suction fan, and scraped tire rubber hair is sucked into a collection container through a suction pipe; and a water spraying device is arranged to spray water to the trimming cutter heads of all the cutter blades to cool the cutter heads.

6. The full-automatic manipulator for scraping the rubber burrs of the tire according to claim 1, wherein the tire pressing roller mechanism (330) comprises a concave roller and a cylinder guide rod, the cylinder guide rod is installed at the upper part of the frame mechanism (100), the concave roller is installed at the movable end of the lower part of the cylinder guide rod, and the tire pressing roller mechanism (330) is arranged behind the lifting frame mechanism (510).

7. The full-automatic manipulator for scraping the rubber burrs of the tire according to claim 6, wherein the lower end of the cylinder guide rod is connected with a tire pressing roller frame, two sides of the tire pressing roller frame are provided with guide sliding rails, the guide sliding rails are fixedly connected with the frame mechanism (100), and the concave roller is installed at the lower end of the tire pressing roller frame.

8. The full-automatic manipulator for scraping the rubber burrs of the tire according to claim 1, wherein the lifting frame mechanism (510) comprises a lifting screw rod (511) and a first servo motor, the lifting screw rod (511) is in threaded connection with the top of the frame mechanism (100), the first servo motor is fixed to the top of the frame mechanism (100), and a driving shaft of the first servo motor is fixedly connected with the lifting screw rod (511) through a coupler.

9. The full-automatic manipulator for scraping the rubber burrs of the tire according to claim 1, wherein the crown scraper (531) comprises a crown machine tool rest and a machine tool, the machine tool is fixedly mounted on the crown machine tool rest, the sidewall scraper (551) comprises a sidewall machine tool rest and a machine tool, the machine tool is fixedly mounted on the sidewall machine tool rest, the rubber edge scraper (730) comprises a rubber edge machine frame and a machine tool, and the machine tool is fixed on the rubber edge machine frame.

10. The full-automatic manipulator for scraping the rubber burrs of the tire according to claim 1, further comprising a tire pushing mechanism (900), wherein the tire pushing mechanism (900) comprises a pushing roller (910) and a fourth cylinder (930), the pushing roller (910) is installed at the movable end of the fourth cylinder (930), the pushing roller (910) is located at the lower part of the beam roller mechanism (310), the pushing roller (910) is installed at the upper end of the support at the bottom of the frame mechanism (100), and the fourth cylinder (930) is connected to the lower end of the support.

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