[0020] The following is a further detailed description of the present invention in combination with a tire vulcanizing machine shaping and tyre assembly manipulator that adopts the tire bottom pressing and tyre assembly mechanism of the present invention and its tire shaping and tyre assembly method.
[0021] In this specific embodiment, a tire vulcanizing machine shaping and tying manipulator is first disclosed, including a vertical connecting shaft with a telescopic function, which also includes lower press-fitting tyres arranged horizontally from top to bottom on the connecting shaft. Mechanism and inner support setting mechanism, the inner support setting mechanism is used to prop up the green tire from the inside and complete the setting, and the lower tire pressing mechanism is used to press down the green tire on the inner support setting mechanism into the mold to complete Install tires. The structure of the internal support setting mechanism is as follows figure 1 As shown, the structure of the lower tire pressing mechanism is figure 2 Shown.
[0022] In this specific embodiment, the inner support setting mechanism includes a fixed plate 1 fixed on the connecting shaft of the manipulator. A plurality of groups of rocker mechanisms with the same structure are evenly distributed on the fixed plate 1 along the circumferential direction, and each group of rocker mechanisms It includes a fixed rod 2, a rocker 3 and a blade 4. One end of the fixed rod 2 is fixed on the fixed plate 1, and the other end extends radially outward along the fixed plate 1 and is hinged to one end of the rocker 3. The other end of the rocker 3 is fixedly connected to the blade 4. The blade 4 is in the shape of a vertically arranged arc-shaped plate and has elasticity. The outer side of the connecting end of the blade 4 and the rocker 3 has a vertical lap plane. 5. The other end of the blade 4 is overlapped on the overlap plane 5 of the adjacent blades, and each group of blades 4 is overlapped in turn to form an overall circle coaxial with the fixed plate (the diameter of the circle is slightly smaller than the inner diameter of the green tire ); The inner support setting mechanism also includes a force applying member 6, which is used to apply force to the rocker to rotate and enable the blade 4 to slide outwards at the end away from the rocker on the overlapping plane of adjacent blades Extension. (After the blade expands outward, the diameter of the circle formed by it is larger than the inner diameter of the green tire)
[0023] Wherein, the inner support setting mechanism further includes a turntable 7 coaxially and rotatably arranged on the fixed plate 1, and each group of rocker mechanisms also includes a connecting rod 8, one end of the connecting rod 8 is hinged on the turntable 7, The other end is hinged on the rocker 3, the force applying member 6 is a horizontally arranged inner support cylinder, and the two ends of the inner support cylinder in the telescopic direction are hingedly mounted on the two connecting rods of the two opposite groups of rocker mechanisms. 8 on. Specifically, a bearing 9 is installed on the connecting shaft above the fixed plate 1, and an axially fixed shaft retaining ring is arranged on the upper end of the bearing 9, and the turntable 1 is installed on the bearing 9 with clearance fit and connected with the bearing 9 together. The shaft rotates.
[0024] In this specific embodiment, the lower pressing tire installation mechanism includes an inverted U-shaped block 10, a pressing cylinder 11, a push rod 12, two connecting rods 13, and a horizontally arranged and matched with the diameter of the green tire The ring-shaped pressing block 14 is connected with the connecting shaft at the top middle position of the inverted U-shaped block 10, and the cylinder 11 for pressing is arranged horizontally facing the top of the inverted U-shaped block and is relatively fixed to the inverted U-shaped block 10. The front end of the telescopic arm 11 fixes the push rod 12, the push rod 12 is parallel to the top of the inverted U-shaped block, and the two ends of the push rod 12 are hinged with two tilted rotating rods 15, and the two rotating rods 15 are far away from the end of the push rod 12. They are respectively hinged to the two connecting rods 13, both ends of the two connecting rods 13 are fixedly connected above the annular pressing block 14, and the middle part of the two connecting rods 13 and the two sides of the inverted U-shaped block are vertically slidingly matched.
[0025] Wherein, the middle portions of the two connecting rods 13 each rely on a vertically arranged linear guide mechanism and the two sides of the inverted U-shaped block to achieve vertical sliding cooperation, and the linear guide mechanism includes a vertically arranged side of the inverted U-shaped block. The two protruding sliding strips 16 on the outer surface of the part also include two clamping pieces 17 slidably fitted on the sliding strip 16, and the two clamping pieces 17 are fixedly installed in the middle of the connecting rod 13. In the slot. The two connecting rods are arranged symmetrically around the axis of the annular pressing block.
[0026] This specific embodiment also discloses a tire shaping and tyre mounting method, that is, a tyre vulcanizing machine shaping and tyre mounting manipulator adopting the above-mentioned structure. Specifically, when the manipulator is specifically implemented, the connecting shaft has a telescopic function that can be It is realized by a mechanism such as an air cylinder or a hydraulic cylinder, and the manipulator can be set on a translation mechanism (or a mobile cylindrical industrial robot), and the translation mechanism drives the manipulator to move from the tire grasping station to the tire installation station. In this way, when the manipulator moves to the tire grasping station, the connecting shaft is controlled to extend downward so that the inner support setting mechanism below falls into the green tire that needs to be shaped. Then control the telescopic arm of the inner support cylinder to extend, and then drive the two connecting rods at both ends of the inner support cylinder to rotate, and then drive all the connecting rods in the rocker mechanism through the turntable to drive the rocker in each group of rocker mechanisms Rotate outwards, so that the blades expand outward to prop up the surface of the inner ring of the green tire, and the connecting shaft retracts upward to realize the grasping and shaping of the tire. After the setting time is completed, the manipulator is driven by the translation mechanism to the top of the mold in the tyre assembly station, and the telescopic arm of the cylinder is controlled to retract to drive the blade to retract, so that the green tire falls onto the mold in the tyre assembly station. Then control the extension of the telescopic arm of the cylinder for pressing down and drive the rotating rod to rotate, so that the connecting rod moves down along the linear guide mechanism, and then drives the annular pressure block to press the upper surface of the green tire to evenly press the green tire into the mold. Install tires. In this way, the automatic production of tire shaping and tyre assembly is realized.
[0027] The invention has the advantages of simple structure, high degree of automation, stable and smooth action, etc., reduces labor intensity of workers, improves operation safety, and improves labor efficiency.
