WO2022222669A1

WO2022222669A1 - Vertical tire disassembly/assembly robot

Info

Publication number: WO2022222669A1
Application number: PCT/CN2022/082293
Authority: WO
Inventors: 郑明誉
Original assignee: 南京沃宇机电有限公司
Priority date: 2021-04-22
Filing date: 2022-03-22
Publication date: 2022-10-27
Also published as: CN113103832B; CN113103832A

Abstract

A vertical tire disassembly/assembly robot, comprising: a vertical frame (1); a main shaft (2) relatively horizontally disposed at an approximate middle portion of the frame (1), and capable of rotating around an axis and/or extending/retracting along an axial direction; a disassembly/assembly mechanical manipulator (5) movably connected to the frame (1) by means of a mechanical arm (52), wherein the disassembly/assembly mechanical manipulator (5) is used for inserting between a tire and a rim to grab an edge of the tire, and has an end portion which is of a hooked structure; at least two groups of press rollers (3) distributed on front and rear sides of the tire and used for pushing and pressing the surfaces of the front and rear sides of the tire; at least one group of tire holding arms (6) movable along a relatively horizontal and/or vertical direction and used for limiting and/or holding the tire; and a driving apparatus for implementing the movement of the main shaft (2), the disassembly/assembly mechanical manipulator (5), the press rollers (3), and the tire holding arms (6). The vertical tire disassembly/assembly machine is simple in structure, small in occupied area and convenient to operate, can implement the full-automatic disassembly/assembly of a tire, and can effectively reduce the working strength and technical requirements of operators, thereby improving tire disassembly/assembly efficiency.

Description

A vertical tire changing robot

technical field

The invention relates to a tire disassembly and assembly device, in particular to a vertical tire disassembly and assembly robot, which belongs to the technical field of tire maintenance mechanical devices.

Background technique

As we all know: the wheel of a vehicle consists of a rim and a tire mounted on the rim, wherein two shoulders (a first shoulder and a second shoulder) are formed on the peripheral surface of the rim for holding the bead of the tire, the first The shoulder part and the second shoulder part are located at two opposite lateral ends of the rim, and an annular groove is also formed in the near middle of the rim, and the annular groove is in the form of a groove. Holds the bead of the tire.

When there is a problem with the wheel, especially the tire on the wheel, the repair and replacement of the tire is required, so corresponding equipment is required for the removal of the tire from the rim and the assembly of the tire back to the rim. The equipment for this operation is usually Known as tire changing machines/equipment.

At present, most of the disassembly and assembly machines for tires at home and abroad are mainly horizontal, which is a kind of equipment with a wheel receiving device. The rim of the automobile wheel can be fixed on the wheel receiving device (usually set vertically), so The wheel receiver may be rotated by a rotary drive (eg, a motor) during a mounting or dismounting operation, and the tire may be mounted or dismounted from the rim using mounting or dismounting tools.

The above-mentioned horizontal tire disassembly and assembly machines are currently unable to achieve fully automatic operation. Since the operation space for the operator to disassemble and disassemble the tire is located in the upper part of the main structure of the disassembly and assembly machine, the operating space of the operator is relatively limited. The floor space of the dismantling machine is large, and the operating space has a certain height, which increases the difficulty of realizing the automation of disassembly and assembly. Especially in the process of tire loading, the alignment between the tire and the rim before assembly cannot be automatically realized, and the operator is required to manually mount the tire and manually assist to position the tire in a position where it can be mounted on the rim, such as patent CN 102049981 B As mentioned in the background art "..., at least at the initial stage of the mounting operation, the axis of the tire is inclined relative to the axis of the rim (the rim according to the present invention). In this case, the bead (or, the two A first portion of one of the beads) is held on the outside of the rim by the installation/removal tool, while a second portion of the same bead (diametrically opposite the first bead) is located in the rim channel inside, so that the tire can move towards the installation/removal tool in the direction perpendicular to the axis of the rim.” The above requirements virtually increase the technical difficulty of the operator’s tools, and it is impossible to achieve automatic positioning and installation.

In the process of stripping, after the tire is released from the rim, the tire needs to be pushed upwards. Obviously, it is further necessary to overcome the gravity obstacle of the tire itself, which further increases the difficulty of stripping, and the ejection mechanism needs to act to a greater extent. force onto the tires.

And we know that when a tire is mounted on a rim, the bead is subjected to mechanical strains that often cause damage to the tire. This is because the bead is subjected to radial strain (compressing the bead), axial strain (lifting the bead), and tangential strain (pulling the bead due to frictional components). All of these types of mechanical strains on the bead can cause serious tire damage if they exceed a certain threshold (as specified by the Tire Manufacturers Association and the automaker).

Although patent CN 102049981 B discloses a device and method for installing a tire to a corresponding rim and removing the tire from the rim, it mainly solves the problem that the tire bead can effectively prevent damage under the action of mechanical stress, but it only controls the The program has been improved, that is, only by setting the sensor to detect the mechanical strain of the bead, so as to control the movement stroke or movement state of the disassembly tool in real time, so as to avoid damage to the bead of the tire, and it is not caused by mechanical stress. angle to solve the above problems.

Therefore, regardless of the floor space, operation space, degree of automation of disassembly and assembly, and the difficulty of disassembly and assembly caused by different directions of gravity, the current horizontal disassembly and assembly machines have the problems of low work efficiency and high technical requirements for operators.

SUMMARY OF THE INVENTION

In view of the deficiencies in the prior art, the present invention mainly provides a new device for assembling and/or disassembling tires of wheels, which allows vertical disassembly and assembly, and can realize automatic disassembly and assembly.

To achieve the above purpose, the technical scheme adopted in the present invention includes:

A vertical tire changing robot, comprising:

Frame: The frame is a vertical support body, which is mainly used to carry various functional components, and enables each functional component to rely on the frame to perform corresponding operations, and forms an operation space for at least one side of the vertical tire dismounting robot;

Main shaft: The main shaft is relatively horizontally arranged in the near middle of the frame, and can be rotated around the axis and/or telescopic in the direction of the axis. It automatically returns to the working position, and realizes the rotation of the rotation axis along the near-horizontal direction, which is used to drive the rim to rotate and carry out the disassembly and assembly operation of the tire;

At least one dismantling manipulator: the dismantling manipulator is movably connected to the frame through the manipulator arm for inserting between the tire and the rim, and the end is a hook-shaped structure, and the dismantling manipulator can be in a disengaged position relative to the frame Move between the working position and the dismantling position. In the disengaging position, the disassembly and assembly manipulator is away from the tire. In the working position, the disassembly and assembly manipulator grabs the edge of the tire;

Pressure roller: There are at least two sets of pressure rollers, which are distributed on the front and rear sides of the tire, and are used to push the front and rear surfaces of the tire. On the one hand, it is also possible to push or push the tire from the rim, etc.;

At least one set of tire-holding arms: moving in a relatively horizontal and/or vertical direction, used to limit and/or hold the tires for conveying;

Driving device: The driving device is used to realize the movement of the main shaft, the disassembly and assembly manipulator, the pressure roller and the tire holding arm.

For the above-mentioned main shaft, in order to make it perform telescopic and rotational motion, it also includes a first transmission mechanism for transmitting the drive from the driving device to the main shaft to realize the main shaft rotation and/or a second transmission mechanism for realizing the main shaft telescopic movement. It can be carried out or simultaneously, that is, the driving device can drive the main shaft to rotate through the first transmission mechanism alone, and can also drive the main shaft to expand and contract through the second transmission mechanism. At the same time, it is also rotating, and the driving device for telescopic motion and rotary motion can be one or two. If it is one, a transmission switching device needs to be installed at the same time, and the driving device can be a motor, a cylinder, an oil cylinder, etc.

Further, the end of the above-mentioned first transmission mechanism is a rotary drive end sleeved on the outer periphery of the main shaft and radially fixed and/or axially slidable relative to the main shaft, that is, the first transmission mechanism can drive the main shaft to rotate, but can effectively avoid the expansion and contraction of the main shaft. , which is implemented in the following ways:

At least one limiting protrusion is formed on the inner wall surface of the rotary drive end along the axial direction, and the main shaft is correspondingly provided with an equal number of key grooves on the outer peripheral surface along the axial direction for the limiting protrusion to slide along the axial direction. The limit protrusion can realize the circumferential fixation between the rotary drive end and the main shaft, and in the axial direction, the main shaft can realize telescopic movement relative to the limit protrusion through the key groove.

In order to ensure the telescopic stroke of the main shaft, the length of the above-mentioned key groove is at least the length of the telescopic stroke of the main shaft relative to the limit protrusion.

Still further, the above-mentioned vertical tire dismounting robot also includes a guide balance mechanism associated with the frame and used to assist the expansion and contraction of the main shaft, the guide balance mechanism at least includes a guide optical axis parallel to the main shaft and a The support on the frame is used to support the guiding optical axis and/or the main shaft, and the guiding balance mechanism realizes the balance when the main shaft is retracted and rotated, and enhances its load-bearing capacity when loading rims and tires.

For the disassembly and assembly manipulator of the vertical tire disassembly and assembly robot, in order to ensure that its moving trajectory between the disengaged position and the working position meets the requirements of tire disassembly and assembly, the present invention also includes a mechanical arm limit guide device. The arm limiting guide device at least includes a curved groove, and the mechanical arm is at least correspondingly connected with a pin that fits and slides in the curved groove. Preferably, the above-mentioned mechanical arm limiting guide device includes at least two curved grooves, and at least one of them is a special-shaped curved groove. The grooves cooperate with each other, and through the pins sliding in the two curved grooves, the robot arm drives the disassembly and assembly manipulator to move between the disengaged position and the working position according to the established trajectory, and the disassembly and assembly manipulator is inserted between the tire bead and the rim. , and grab the bead, raise or lower the bead, remove the bead from the rim, and withdraw the bead from the bead.

More specifically, the above-mentioned curved groove is arranged on at least one vertical wall of the limit and guide device of the mechanical arm. Most preferably, the above-mentioned mechanical arm limiting guide device includes at least two vertical walls with the same structure. The robotic arm is at least partially accommodated between two vertical walls with the same structure.

In the present invention, the above-mentioned mechanical arm includes at least one joint, and one end of the mechanical arm is hinged with the disassembly and assembly manipulator, and the other end is connected with the power output shaft of the driving device, the driving device drives the mechanical arm, and the mechanical arm passes through The pin slides in the curved groove, and the limit controls the curved movement of the disassembly manipulator.

For the pressure roller of the vertical tire dismounting robot, specifically: the above-mentioned pressure roller can realize the up-down and front-rear telescopic motion and the self-rotation along the side surface of the tire relative to the frame, so that it can be at least partially in the working position with the side surface of the tire. Fitting close to the rim, in the process of pressing or pushing the tire, the friction with the tire is reduced by rotation, and the pressure to the tire is provided at the same time, and the rim and tire pressure sensor are not damaged. The shape of the pressing wheel is at least one of elongated cylindrical shape, disc shape, trumpet shape, dumbbell shape and the like. And the distance between the pressure point of the pressure roller on the tire and the flange of the rim is kept at 2-10mm, and the effect of the pressure roller is the best.

Still further, at least one set of tire holding arms of the vertical tire dismounting robot is arranged below the main shaft to limit and/or hold the vertical tires, and to realize horizontal movement and lifting of the tires. And each group of the above-mentioned tire holding arms includes at least two holding poles located on the same horizontal plane, distributed on the left and right sides of the tire, and can be moved relative to the horizontal horizontal X-axis and/or the relative vertical Y-axis movement and/or Movement relative to the horizontal and vertical Z-axis.

In addition, in the present invention, the driving mode of the driving device is electric, pneumatic or hydraulic.

beneficial effect

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

(1) The present invention reduces the floor space of the disassembly and assembly equipment, simplifies the operation process, saves the equipment cost, and realizes the real The automatic disassembly and assembly in the sense greatly reduces the labor intensity and technical requirements of the operator, and at the same time improves the disassembly and assembly efficiency;

(2) In the actual application process, since the disassembly and assembly of the tire requires a certain point to be removed from the rim or loaded into the rim, that is, the point needs to have a certain gap with the rim, and then the force of pulling and/or pushing the sidewall of the tire is required. At this time, if the tire is set vertically, its own gravity can provide assistance for the formation of the gap, even during the tire removal process, if the disassembly and assembly manipulator is located near the upper position of the tire, due to the direction of the tire's own gravity The direction of the pulling force of the dismantling manipulator or the thrust direction of the pressure wheel is also in an approximately vertical direction, which will not provide resistance. For horizontal tires, gravity will become the resistance of the tire dismantling force.

(3) During the tire disassembly and assembly process, due to the automatic cooperation of the tire holding arm, the pressure roller and the disassembly and assembly manipulator, for the vertical tire of the present invention, if the main shaft is not rotated, the disassembly and assembly manipulator will The tire bead is pulled out of the rim shaft and then the spindle is rotated. At this time, the tire pressure sensor on the side of the rim will not be touched, while the traditional horizontal tire needs to manually pry the edge of the tire, and it is prying. Under the circumstance, rotating the main shaft requires relatively high technical requirements for the operator, otherwise it is easy to damage the tire pressure sensor, and for the current semi-automatic horizontal tire disassembly and assembly equipment, when the tire is removed, the hook that grabs the bead is also in-depth. The state between the bead and the rim rotates out of the tire, which also has the danger of damaging the tire pressure sensor.

Description of drawings

FIG. 1 is a side view of the tire changing robot according to an embodiment of the present invention after removing the casing;

2 is a schematic structural diagram of the main shaft detached from the frame according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of the main shaft described in FIG. 2 detached from the frame in another direction;

4 is a schematic view of the end structure of the driving spindle to rotate;

Fig. 5 is the structural representation of the rotary drive end;

6 is a schematic structural diagram of another main shaft embodiment of the present invention when it is separated from the frame;

FIG. 7 is a schematic view of the structure in another direction in which the main shaft described in FIG. 6 is separated from the frame;

Fig. 8 is the structural representation of the lower pressure roller assembly;

[Corrected 18.04.2022 under Rule 91]
Fig. 9 is the structural representation of described frame;

[Corrected 18.04.2022 under Rule 91]
10 is a schematic structural diagram of a disassembly and assembly manipulator according to the present invention;

[Corrected 18.04.2022 under Rule 91]
Fig. 11 is the detailed structure schematic diagram of disassembling and assembling manipulator in Fig. 9;

[Corrected 18.04.2022 under Rule 91]
FIG. 12 is a schematic structural diagram of another embodiment of the tire holding arm according to the present invention.

The meanings of the main reference signs in the figure are:

1. Frame 21. Bearing and locking part

2. Main shaft 22. Front support plate

23. Back support plate 38. The first nut

24. Screw 39. Second telescopic screw

25. Connecting plate 391. Second nut

26. The second motor 40. The third telescopic screw

27. The first motor 5. Disassembly manipulator

28. Rotary drive end 51. Hook

29. Limit protrusion 52. Robot arm

211, keyway 531, mechanical arm limit guide

212. Guide optical axis 54. The first curve groove

20. Support plate 55. Second curve groove

201. Balance board 56. The first pin

202. Fixed stroke support plate 57. Second pin

203. Mobile stroke support plate 6. Tire arm

3. Press wheel 61. Hold the pole

31. Rear pressure roller 62. Gear

32. Front pressure roller 63. Vertical rolling groove

33. Front pressure wheel bearing plate 64. Rack

34. The first auxiliary plate 65. Lateral rolling groove

35. Rear pressure wheel bearing plate 66. Transverse rack

36. Second auxiliary plate C, rim

37. The first telescopic screw P, tire

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in 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. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the invention provided 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 of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "front", "rear", "front end", "rear end", "outside", "internal test", "front side", "rear side", " The orientation or positional relationship indicated by "up", "bottom", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in use, It is only for the convenience of describing the present invention and simplifying the description, not to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first", "second", etc. are only used to differentiate the description and should not be construed to indicate or imply relative importance.

In the description of the present invention, it should also be noted that, unless otherwise expressly specified and limited, the terms "arrangement" and "connection" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or It can be connected in one piece; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In the present invention, unless otherwise expressly specified and limited, the first feature above or below the second feature may include the first and second features in direct contact, or may include the first and second features that are not in direct contact with each other. through additional characteristic contact between them. Also, the first feature being above, above and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is below, below and below the second feature includes the first feature is directly below and diagonally below the second feature, or simply means that the first feature level is smaller than the second feature.

FIG. 1 is a side view of the tire changing robot according to an embodiment of the present invention after the casing is removed.

As shown in Figure 1: the vertical tire changing robot includes a frame that forms a structural basis 1: a vertical support body arranged on a substantially horizontal support surface (such as the ground), in this embodiment, it is constructed by profiles It has a frame-shaped structure with at least one side as an operating space. The area of the figure formed by the profiles in contact with the ground can be larger than the projected area of the frame on the ground, in order to further strengthen the stability of the frame 1. The main function of the frame 1 is to form tires. The vertical space for the disassembly and assembly robot carries other functional components used for tire disassembly and assembly operations, and provides transmission support for each functional component.

In this embodiment, the side surface of the frame 1 forming the operation space is marked as the front surface.

The vertical tire changing robot shown in FIG. 1 also includes a main shaft 2. The main shaft 2 is relatively horizontally arranged in the near middle of the frame 1, and can rotate around the axis (near horizontal direction) and/or expand and contract along the axis direction. Towards the front of the frame 1 ) is the load-bearing and locking portion 21 of the rim C (receiving the rim).

FIG. 2 is a schematic structural diagram of the main shaft detaching from the frame according to an embodiment of the present invention; FIG. 3 is a structural schematic diagram of the main shaft detaching from the frame according to FIG. 2 in another direction.

As shown in Figures 2 and 3: In order to realize the association between the main shaft 2 and the frame 1, two supporting plates are also included: a front supporting plate 22 and a rear supporting plate 23, and the front supporting plate 22 is fixed by connecting pieces on both sides On the left and right sides of the front part of the frame 1, similarly, the rear support plate 23 is fixed on the left and right sides of the rear part of the frame 1 through the connecting pieces on both sides, and the bearing and locking part 21 of the main shaft 2 is placed on the front support plate 22 outside (front of frame 1).

FIG. 4 is a schematic view of the structure of the end of the driving spindle to rotate; FIG. 5 is a schematic view of the structure of the rotary drive end.

As shown in Figures 2-5: in order to realize the rotation of the main shaft 2, in this embodiment, the main shaft 2 passes through the front support plate 22, and the connecting end of the front support plate 22 and the main shaft 2 is provided with a bearing, which is convenient for the main shaft 2 Relative to the rotation of the front support plate 22, in addition, a first motor 27 of the driving device is also provided on the front support plate 22, and a rotary drive end 28 is provided on the main shaft 2, and the first motor 27 drives the rotary drive end 28 through the sprocket. Rotation, and the driving rotary end 28 drives the main shaft 2 to rotate in the following way: the inner wall surface of the driving rotary end 28 forms at least one limiting protrusion 29 along the axial direction, and the main shaft 2 is correspondingly provided with equal parts on the outer peripheral surface along the axial direction. There are a plurality of key grooves 211 for the limit protrusion 29 to slide in the axial direction. The limit protrusion 29 can realize the circumferential fixation between the rotary drive end 28 and the main shaft 2, and the main shaft 2 can be realized relative to the limit protrusion 29 through the key groove 211. The telescopic motion, that is, the rotating drive end 28 is radially fixed and axially slid relative to the main shaft 2 , which can effectively avoid the main shaft 2 from being telescopic. The rotary drive end 28 , the limiting protrusion 29 , the keyway 211 and the sprocket constitute the first transmission mechanism of the main shaft 2 , the first motor 27 provides power for the first transmission mechanism, and the length of the above-mentioned keyway 211 is at least the relative limit of the main shaft 2 Stroke length of the projection 29 telescopic.

In order to realize the expansion and contraction of the main shaft 2, two screws 24 are arranged in parallel between the front support plate 22 and the rear support plate 23, and a connecting plate 25 is sleeved on the outer circumference of the main shaft 2 near the rear end. 25 is sleeved on the screw 24 through an embedded nut (not shown in the figure), the nut and its corresponding screw form a screw, and the main shaft 2 can be extended and retracted by the forward and reverse rotation of the screw 24 . In this embodiment, the rotation of the screw 24 is driven by a second motor 26 of a driving device arranged on the rear support plate 23, and the output shaft of the second motor 26 drives the two screws 24 to rotate through the sprocket. The screw 24, the nut, the sprocket and the connecting plate 25 constitute the second transmission mechanism of the main shaft 2, and the second motor 26 provides power for the second transmission mechanism.

Through the arrangement of the above-mentioned first transmission mechanism and the second transmission mechanism, the rotation and expansion of the main shaft 2 can be carried out separately or simultaneously. The second motor 26 drives the second transmission mechanism to independently drive the main shaft 2 to extend and retract. Of course, the first transmission mechanism and the second transmission mechanism can also operate at the same time, so that the main shaft 2 is also rotated when the main shaft 2 is retracted. It is not limited to the form of the motor, and can also use air cylinders, oil cylinders, etc. In this embodiment, two power devices are used to drive the first transmission mechanism and the second transmission mechanism respectively. Of course, the same driving device can also be used, only It is only necessary to add a transmission switching device. In addition, the forms of the first transmission mechanism and the second transmission mechanism are not limited to the above-mentioned methods, provided that the main purpose (main shaft rotation and expansion and contraction) remains unchanged.

In the above-mentioned expansion and contraction process of the main shaft 2, it also includes a guide balance mechanism associated with the frame 1 and used to assist the expansion and contraction of the main shaft 2. Specifically, the guide balance mechanism includes a guide optical axis 212 parallel to the main shaft 2. The optical axis 212 is erected between the front supporting plate 22 and the rear supporting plate 23, that is, the front supporting plate 22 and the rear supporting plate 23 become the supports for supporting the guiding optical axis 212 and/or the main shaft 2, and are guided by the balance mechanism. To achieve the balance when the main shaft 2 is stretched and rotated, and to enhance its load-bearing capacity when the rim C and the tire P are loaded.

The main shaft 2 and its structure of rotation and expansion are not limited to the above-mentioned embodiments. The above-mentioned embodiments move the operation space for tire disassembly to the outside of the frame 1 by means of two support plates. The disassembly and assembly operation space of the tire is inside the frame 1, and a support plate can also be used to realize it.

FIG. 6 is a schematic view of the structure of another embodiment of the present invention when the spindle is detached from the frame, and FIG. 7 is a schematic view of the structure of the spindle shown in FIG. 6 in another direction when the spindle is detached from the frame.

As shown in FIG. 6 and FIG. 7 : the support plate 20 is fixed on the left and right sides of the rear of the frame 1 through the connecting pieces on both sides, the main shaft 2 passes through the support plate 20 , and the bearing and locking portion 21 is located in front of the support plate 20 . At this time, in order to ensure the balance of the main shaft 2, a suspended balance plate 201 is also set at the rear of the support plate 20. The balance plate 201 and the support plate 20 are connected through the optical axis and the screw 24, and the drive device is set On the support plate 20, its output end drives one of the screws 24 to rotate through the chain, and then drives the other screw to move synchronously through the synchronizing chain. The connecting plate 25 is sleeved on the screw 24 through a built-in nut (not shown in the figure), the nut and its corresponding screw form a screw, and the positive and negative rotation of the screw 24 realizes the rotation of the main shaft 2. telescopic. Also different from the previous embodiment is that the main shaft 2 is further provided with a travel support plate at the front and rear ends of the support plate 20, a guide optical axis 212 is arranged between the travel support plates, and the travel support plate includes the fixed travel support plate 202 and the travel support plate. The moving stroke support plate 203, the fixed stroke support plate 202 is slidably connected with the optical guide shaft 212, and the movable stroke support plate 203 is fixedly connected with the optical guide shaft 212, and the optical guide shaft 212 and the main shaft 2 are synchronously telescopic. In this embodiment, the rotational drive of the main shaft 2 is the same as that in the previous embodiment, and will not be repeated here.

After the rotation and telescopic features of the main shaft 2 are provided, the tire P locked on the bearing and locking portion 21 of the main shaft 2 needs to be removed or the locked rim C needs to be installed. At least one disassembly and assembly manipulator, pressure roller, tire holding arm and a driving device for driving the above components are realized.

During the tire removal process, the two sidewalls of the tire P need to be separated from the two shoulders of the rim respectively. Therefore, pressure rollers 3 are provided on both the front and rear sides of the tire, as shown in Figure 1: The pressure roller 3 It is divided into a rear pinch roller 31 and a front pinch wheel 32. The rear pinch wheel 31 is mainly used for tire removal operations. It is driven by the power unit and runs to the rear side surface of the tire near the bead for pushing. From the rear side surface of the tire, the rear sidewall of the tire and the shoulder of the rim can be removed, and by further pressing, the tire can be fully pushed out from the rim C.

The front pinch roller 32 can be used for tire removal or loading operation. During tire removal, the front pinch roller 32 is driven by the power unit to run to the front side surface of the tire near the bead It is used to push the front side surface of the tire to remove the tire bead on the front side and the shoulder of the rim, while providing clearance for the disassembly robot to enter and grab the bead.

On the contrary, during the tire loading process, the bottom of the tire's initial installation position is in a relatively suspended state, and the tire P is pressed into the rim C by the front pressing wheel 32 .

In order to optimize the design of the force balance in the process of dismounting and assembling tires, as shown in Figure 1: there are four groups of pressure rollers 3 in total, and two groups of rear pressure rollers 31 and front pressure rollers 32 are respectively arranged. The two groups of rear pressure rollers 31 and the two groups of front pressure rollers 32 are respectively arranged on the upper and lower sides of the main shaft 2 , so that the four groups of pressure rollers are roughly arranged in the front, rear, upper and lower directions of the tire P.

Since in this embodiment, the structures of the pinch roller assemblies located at the upper and lower parts of the main shaft 2 are basically the same, only the specific structure of the lower pinch roller assembly will be described in detail, and the upper pinch roller assembly will not be repeated.

FIG. 8 is a schematic structural diagram of the lower pinch roller assembly.

As shown in FIG. 8 : the front pressure roller 32 includes two pressure rollers, both of which are arranged on the same front pressure roller bearing plate 33 in a direction approximately toward the axis of the main shaft 2. In order to realize that the front pressure roller bearing plate 33 can The front pinch roller 32 is driven to move back and forth in the direction of the main shaft, and a first auxiliary plate 34 is also provided vertically parallel to the front pinch wheel bearing plate 33. Between the front pinch wheel bearing plate 33 and the first auxiliary plate 34 The first movable frame is formed by connecting with the guide shaft.

Similarly, the rear pinch roller 31 also includes two pinch rollers, both of which are arranged on the same rear pinch wheel bearing plate 35 in a direction approximately toward the axis of the main shaft 2, so that the rear pinch wheel bearing plate 35 can drive the rear When the pinch roller 31 is stretched back and forth, a second auxiliary plate 36 is also provided vertically parallel to the rear pinch wheel bearing plate 35. The rear pinch wheel bearing plate 35 and the second auxiliary plate 36 are connected by a guide shaft to form a first Two activity framework.

The first movable frame and the second movable frame are at least partially sleeved, that is, the rear pinch roller bearing plate 35 is located between the front pinch wheel bearing plate 33 and the first auxiliary plate 34, and the front pinch wheel bearing plate 33 and the The guide shaft between the first auxiliary plates 34 passes through the rear pinch roller carrier plate 35 and can be freely retracted forward and backward relative to the rear pinch wheel carrier plate 35 , while the guide shaft between the rear pinch wheel carrier plate 35 and the second auxiliary plate 36 The shaft also passes through the first auxiliary plate 34 and is freely retractable forward and backward relative to the first auxiliary plate 34 .

In order to realize the overall front and rear expansion and contraction of the first movable frame, a set of second movable frame distributed on the left and right sides of the second movable frame and also arranged in parallel with the guide shaft is also arranged between the rear pinch roller bearing plate 35 and the second auxiliary plate 36 A telescopic screw 37 , the left and right sides of the first auxiliary plate 34 are correspondingly provided with first nuts 38 sleeved on the first telescopic screw 37 , and the first telescopic screw 37 is driven by a driving device arranged on the second auxiliary plate 36 . The drive realizes synchronous rotation, and then drives the entire first movable frame to move forward and backward telescopically.

Similarly, in order to realize the overall front and rear expansion and contraction of the second movable frame, a similar U-shaped movable frame 392 is also included. The left and right sides of 35 are correspondingly provided with second nuts 391 sleeved on the second telescopic screw 39; Second, the movable frame moves forward and backward as a whole.

In order to associate the lower pinch roller assembly with the frame 1 as a whole, the two sides of the U-shaped movable frame 392 are slidably associated with the left and right sides of the frame 1, that is, the entire lower pinch wheel assembly moves up and down relative to the frame 1 at the same time.

FIG. 9 is a schematic structural diagram of the frame 1 .

As shown in FIG. 9 : the left and right sides of the frame 1 are respectively provided with third telescopic screws 40 in the vertical direction, and the two sides of the above-mentioned U-shaped movable frame are sleeved on the third telescopic screws 40 through embedded nuts. , the third telescopic screw 40 is driven synchronously by the driving device provided in the frame 1, so as to realize the whole up and down expansion and contraction of the first movable frame and the second movable frame.

Similarly, the upper pinch roller assembly is also extended up and down by the third telescopic screw 40 as a whole, which is opposite to the extension and contraction direction of the lower pinch wheel assembly.

So far, the front and rear, up and down telescopic movement of the pinch roller 3 can be realized, so as to be able to move between the working position and the disengaged position. When it is in the working position, the above-mentioned setting method makes it at least partially with the side of the tire P near the rim C. Fitting, in the process of beading or pushing the tire, the friction with the tire P is reduced by rotation, and the pressure to the tire P is provided at the same time, and the rim C and the tire pressure sensor are not damaged. According to the test, it is best to keep the distance between the pressure point of the pressure roller 3 and the rim flange at 2-10mm, and for the shape of the pressure roller 3, different shapes can be used for the four pressure rollers as follows in the embodiment. , the effect is the best, such as the use of slender cylindrical, disc, trumpet, dumbbell and so on.

During the tire disassembly and assembly process, a disassembly and assembly manipulator is also required. During the tire removal process, it is used to insert between the tire and the rim, grab the tire edge, and pull the tire P out of the rim C, or during the tire loading process. , pull the tire P into the rim C.

FIG. 10 is a schematic structural diagram of a disassembly and assembly manipulator according to the present invention.

As shown in Figure 10: In this embodiment, the disassembly and assembly manipulator used in the tire removal process is set on the front pinch roller bearing plate 33 of the upper pinch roller assembly, while the disassembly and assembly manipulator (assistant disassembly and assembly) during tire loading The manipulator) is arranged on the rear pinch roller carrier plate 35 of the lower pinch roller assembly. Since the structure of the disassembly and assembly manipulator is the same, only the disassembly and assembly manipulator during the tire removal process will be described in detail here, and the auxiliary disassembly and assembly manipulator during the tire assembly process will not be repeated.

FIG. 11 is a schematic diagram of the detailed structure of the disassembly and assembly manipulator shown in FIG. 10 .

As shown in Figure 11: the disassembly and assembly manipulator 5 is a hook 51 with a hook-shaped structure at one end, and the hook 51 is pinned to the front end of the manipulator arm 52, and in order to ensure that the disassembly and assembly manipulator 5 moves between the disengaged position and the working position The track meets the requirements of dismounting and assembling tires, and also includes a limit guide device 53 for the robot arm. The limit guide device 53 for the robot arm includes two parallel vertical walls 531 with the same structure. The two vertical walls 531 are fixed on The front pinch roller bearing plate 33 forms an accommodation space for the robotic arm 52 in the middle. The robotic arm 52 is at least partially accommodated between two vertical walls 531 with the same structure, and on one side of the vertical wall 531 , are provided with two curved grooves, the first curved groove 54 and the second curved groove 55, the second curved groove 55 is a special-shaped curved groove, which has an inflection point in the stroke, and the front and rear parts of the inflection point are in opposite directions. The hook 51 and the mechanical arm The first pin 56 at the connection of 52 is positioned in the first curved groove 54, and can fit and slide in the first curved groove 54 to realize the extension and retraction of the hook 51. The mechanical arm 52 has two joints, and the two joints pass through the second pin. 57 is pin-connected, and the second pin 57 is positioned in the second curved groove 55 to realize the expansion and contraction of the mechanical arm 52, thereby driving the expansion and contraction of the hook 51, and the rear end of the mechanical arm 52 is fixedly connected with the driving device. The device is an air cylinder, and the piston rod of the air cylinder is connected to the rear end of the mechanical arm 52 for driving the joint of the mechanical arm 52 to move in the second curved groove 55 . The first curved groove 54 and the second curved groove 55 cooperate with each other, and through the pins sliding in the two curved grooves respectively, the mechanical arm 52 drives the disassembly and assembly robot 5 to move between the disengaged position and the working position according to the predetermined trajectory, and can The operations of inserting the dismounting robot 5 between the bead of the tire P and the rim C, and grasping the bead, lifting or lowering the bead, taking out the bead from the rim C, and withdrawing from the bead are realized.

The above-mentioned dismantling manipulator 5 , manipulator arm 52 and manipulator arm limiting and guiding device 53 are only one embodiment, and the specific structure thereof is not limited thereto.

Since the hook 51 here is used for the tire removal process, it grabs the bead near the upper part of the tire P. Therefore, its overall shape is to bend toward the upper end (the tire removal process), and the auxiliary disassembly robot grabs the bead. Since it is the bead near the lower part of the tire P, its overall shape is curved toward the lower end (the tire loading process).

In the process of tire disassembly and assembly, at least one set of tire holding arms 6 is also required, and the tire holding arms 6 can be moved in a relatively horizontal and/or vertical direction to limit and/or hold the tires for conveying. , If the tire P is lifted, it can be easily towed and disassembled the manipulator.

As shown in Figure 8: the tire holding arm 6 is a group of holding rods 61 arranged on the first movable frame, the rolling screw 61 is arranged in parallel along the axis direction of the main shaft 2, and the front and rear ends thereof are respectively provided with gears 62. A vertical rolling groove 63 is opened at the corresponding position of the upper pressure roller bearing plate 33 and the first auxiliary plate 34. A rack 64 is arranged on one side of the vertical rolling groove 63, and the gear 62 is engaged with the rack 64. The power unit of the auxiliary plate 34 drives the gear 62, thereby realizing the up and down movement of the holding rod 61 relative to the first movable frame, and under the driving of the first movable frame, the tire holding arm 6 can also realize the front and rear, up and down movements, and realize the movement of the tire. Horizontal movement and lifting.

FIG. 12 is a schematic structural diagram of another embodiment of the tire holding arm according to the present invention.

As shown in FIG. 12 , the tire holding arm 6 is a group of holding rods 61 arranged on the first movable frame. The rolling screw 61 is arranged in parallel along the axial direction of the main shaft 2, and the front and rear ends thereof are respectively provided with gears 62. A transverse rolling groove 65 is opened at the corresponding position of the upper pressure roller bearing plate 33 and the first auxiliary plate 34. A transverse rack 66 is arranged on one side of the transverse rolling groove 65, and the gear 62 is engaged with the transverse rack 66. The power unit of the auxiliary plate 34 drives the gear 62, thereby realizing the left and right movement of the holding rod 61 relative to the first movable frame. The movement directions of the two rolling screws 61 are synchronous and opposite, and under the driving of the first movable frame, the tire holding arm 6 It can also realize front and rear, up and down movements, and realize the horizontal movement and lifting of tires.

The above only schematically describes the tire holding arms 6 arranged in the lower assembly. Similarly, tire holding arms with the same structure as the tire holding arms 6 in the lower assembly can be set in the upper assembly. Motion in the vertical direction is synchronized and in opposite directions.

In the above embodiment, the disassembly and assembly manipulator 5, the tire holding arm 6 and the pressure roller 3 are relatedly arranged, that is, two parts located on the upper and lower parts of the main shaft 2 are finally formed: the upper component and the lower component. In the actual design process, you can also The main purpose of setting up each component separately is to realize the automatic operation of the entire tire removal and tire loading, but in practical applications, work efficiency and equipment costs must be comprehensively considered.

Using the vertical tire dismounting robot of the present invention can realize the automatic operation of tire removal (tire removal) and tire loading, which reduces the technical requirements for operators, and the whole device has the advantages of small footprint and convenient operation.

First, the process of getting rid of the tire is: start the driving device such as the drive motor to work, at least the lower part is extended, the tire holding arm 6 receives the wheel, and transports the wheel to the bearing and locking part 21 of the main shaft 2. After locking, the rear pressure roller 31 runs To the rear side of the tire near the bead, the side surface of the tire is pressed, and the main shaft 2 rotates at the same time. After one turn, the bead of the tire P is separated from the shoulder of the rim C. One set of functions and the other set of assists make the tire P form an inclined angle laterally, so that after it is separated from a pressure point, the whole separation can be achieved by rotation; similarly, the front pressure wheel 32 separates the bead of the tire P from the rim. After the shoulder of C is detached, under the action of the air cylinder, the disassembly and assembly manipulator 5 reaches the working position, inserts between the bead on the front side of the tire P and the rim C, grabs the bead of the tire P, lifts it up and pulls it out Extend the tire P, after the main shaft 2 rotates, take off the tire P from the rim C. At this time, the rear pressure roller 31 continues to push to the outside to assist in pushing the rear side of the tire P from the rim C, and the tire holding arm 6 After receiving the tire P, it is transported outward and lowered to the ground near the ground, so that the tire P can be easily removed from the equipment for repair, replacement and other operations.

During the tire loading process, the process of receiving the tire P at the front is the same as the process of receiving the wheel. When the tire holding arm 6 transports the tire P to the tire loading position near the rim C, the auxiliary tire dismounting manipulator located on the lower assembly moves to grab it. The inner bead of the tire P is pulled into the rim C and then withdrawn. The front pressure roller 32 runs to the front side surface of the tire P near the bead, and presses the tire P inward. At this time, the main shaft 2 rotates to press the tire P. Insert the rim C into the rim C to realize automatic tire loading, and then remove the entire wheel from the main shaft 2. After the tire holding arm 6 transports it out, the wheel is removed from the equipment, and the functional components are returned to their positions to realize the tire loading operation.

The foregoing presentation describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only describe the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Various changes and improvements fall within the scope of the claimed invention, which is defined by the appended claims and their equivalents.

Claims

A vertical tire dismounting robot is characterized in that, comprising:

Frame: the frame is a vertical support body;

Main shaft: the main shaft is relatively horizontally arranged in the near-middle position of the frame, can rotate around the axis and/or expand and contract along the axis direction, and its front end is the bearing and locking part of the rim;

At least one dismantling manipulator: the dismantling manipulator is movably connected to the frame through the manipulator arm for inserting between the tire and the rim, and the end is a hook-shaped structure, and the dismantling manipulator is in the disengaged position and the working position In the disengaged position, the disassembly and assembly manipulator is away from the tire, and in the working position, the disassembly and assembly manipulator grabs the edge of the tire;

Pressure rollers: The pressure rollers are provided with at least two groups, which are distributed on the front and rear sides of the tire, and are used to push the front and rear surfaces of the tire;

At least one set of tire holding arms: move in relative horizontal and/or vertical directions to limit and/or hold the tires;

Driving device: The driving device is used to realize the movement of the main shaft, the disassembly and assembly manipulator, the pressure roller and the tire holding arm.
A vertical tire dismounting robot according to claim 1, further comprising a first transmission mechanism for transmitting the drive from the driving device to the main shaft to realize the rotation of the main shaft and/or a second transmission mechanism for realizing the expansion and contraction of the main shaft, The rotation and retraction of the main shaft are performed separately or simultaneously.
A vertical tire dismounting robot according to claim 2, wherein the end of the first transmission mechanism is a rotary drive sleeved on the outer circumference of the main shaft and radially fixed and/or axially sliding relative to the main shaft end.
The vertical tire changing robot according to claim 3, wherein at least one limiting protrusion is formed on the inner wall surface of the rotary driving end in the axial direction, and the main shaft is correspondingly formed in the axial direction. An equal number of key grooves for the limiting protrusion to slide in the axial direction are arranged on the outer peripheral surface.
The vertical tire dismounting robot according to claim 4, characterized in that the length of the keyway is at least the length of the travel of the main shaft relative to the extension and retraction of the limiting protrusion.
A vertical tire dismounting robot according to claim 1, further comprising a guide balance mechanism associated with the frame and used to assist the expansion and contraction of the main shaft, and the guide balance mechanism at least comprises a guide balance mechanism parallel to the main shaft The optical guide shaft and the supporting member associated with the frame for supporting the optical guide shaft and/or the main shaft.
A vertical tire dismounting robot according to claim 1, characterized in that it further comprises a limit and guide device for a mechanical arm, the limit and guide device for the mechanical arm at least comprises a curved groove, and the mechanical arm At least one correspondingly is connected with a pin that fits and slides in the curved groove.
A vertical tire dismounting robot according to claim 7, characterized in that, the limit and guide device of the mechanical arm comprises at least two curved grooves, and at least one of them is a special-shaped curved groove, and the special-shaped curved groove The groove has an inflection point in the stroke, and the front and rear parts of the inflection point are in opposite directions.
The vertical tire changing robot according to claim 7 or 8, wherein the curved groove is arranged on at least one vertical wall of the limit guide device of the robot arm.
A vertical tire changing robot according to claim 7 or 8, characterized in that, the mechanical arm limiting guide device comprises at least two vertical walls with the same structure.
The vertical tire changing robot according to claim 10, wherein the robotic arm is at least partially accommodated between two vertical walls with the same structure.
A vertical tire dismounting robot according to claim 1 or 11, wherein the robotic arm includes at least one joint, and one end of the robotic arm is hinged with the dismounting manipulator, and the other end is Connected to the power take-off shaft of the drive unit.
A vertical tire dismounting robot according to claim 1, characterized in that the pinch roller can realize up-down and front-rear telescopic motion and self-rotation along the side surface of the tire relative to the frame, and in the working position, at least Partially fits the side of the tire near the rim.
A vertical tire dismounting robot according to claim 1 or 13, wherein the shape of the pressure roller is at least one of an elongated cylindrical shape, a disc shape, a trumpet shape, and a dumbbell shape.
A vertical tire dismounting robot according to claim 1 or 13, wherein the distance between the pressure point of the pressure roller on the tire and the rim flange is kept at 2-10mm.
The vertical tire dismounting robot according to claim 1, wherein at least one group of the tire holding arms is arranged below the main shaft to limit and/or hold the vertical tires, and Realize the horizontal movement and lifting of tires.
The vertical tire dismounting robot according to claim 16, wherein each group of the tire holding arms includes at least two holding rods located on the same horizontal plane, which are distributed on the left and right sides of the tire, and are opposite to each other. The horizontal and transverse X-axis and/or the relative vertical Y-axis and/or the horizontal and vertical Z-axis move synchronously.
A vertical tire changing robot according to claim 1, characterized in that, the driving mode of the driving device is electric, pneumatic or hydraulic.