Tire changing robot for vehicle rescue

Abstract

The invention discloses a tire changing robot for vehicle rescue, and relates to the technical field of vehicle rescue, the tire changing robot comprises a base, a moving mechanism and a mechanical arm, the outer end of the base is provided with the moving mechanism, the front side surface of the base is fixedly provided with a position control motor, and the output end of the position control motor is fixedly provided with a screw rod; the outer end of the screw rod is in threaded connection with a moving plate, a mechanical arm is installed on the moving plate, a loading and unloading mechanism is installed behind the mechanical arm, a fixing rod is arranged on the outer side of the center motor, an installing mechanism is arranged on the outer side of the loading and unloading mechanism, and a clamping mechanism is installed in the installing mechanism. According to the tire changing robot for vehicle rescue, the positions of the outer ends of all the positioning arms arranged at equal angles can be rapidly adjusted, a tire can be rapidly fixed, all screws on the tire can be conveniently unscrewed through a machine, the tire is carried through left-right movement, lifting and rotating overturning of the clamping mechanism, and the working intensity of workers is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle rescue, and in particular to a tire changing robot for vehicle rescue. Background Art

[0002] A spare tire and a jack are standard on cars, so that drivers can deal with tire leaks, blowouts, and other situations. However, it is difficult for drivers who have no experience in changing tires to change tires. Drivers will call for help, which will keep rescuers busy on the road. In order to reduce the workload of vehicle rescuers, tire-changing robots are proposed on the market, making tire changing more labor-saving and convenient. For example, the Chinese invention patent with the authorization announcement number CN107399197B discloses an automobile tire changing auxiliary device, which belongs to the technical field of vehicle auxiliary equipment. It solves the problem that the existing tire changing process is relatively laborious. The automobile tire changing auxiliary device includes a base, a guide shaft is vertically connected to the base, a base plate is slidably connected to the guide shaft, a rotating frame is rotatably connected to the base plate, and a plurality of positioning rods are slidably connected to the side of the rotating frame, and the positioning rods include positioning arms. The rotating frame is provided with a control member that can drive a plurality of positioning rods to slide at the same time. The automobile tire changing auxiliary device makes tire changing more labor-saving and convenient; However, the existing tire changing robots for vehicle rescue still have the following problems: When fixing tires of different sizes, the positions of the positioning arms need to be adjusted manually in sequence, and the positions of the positioning arms cannot be adjusted quickly, and tires of different sizes cannot be fixed quickly; Workers need to manually install and remove each screw, which is time-consuming and laborious; When loading and unloading tires, workers are required to manually carry the tires, which increases their workload. Therefore, we propose a tire changing robot for vehicle rescue to solve the above problems. Summary of the invention

[0003] The purpose of the present invention is to provide a tire-changing robot for vehicle rescue, so as to solve the problem that the existing tire-changing machine for vehicle rescue proposed in the above-mentioned background technology needs to manually adjust the position of each positioning arm in sequence when fixing tires of different sizes, and the position of each positioning arm cannot be adjusted quickly, and tires of different sizes cannot be fixed quickly. The staff needs to manually load and unload each screw, which is time-consuming and laborious. When loading and unloading tires, the staff needs to manually carry the tires, which increases the work intensity of the staff.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a tire changing robot for vehicle rescue, comprising a base, a moving mechanism and a mechanical arm: A moving mechanism is installed at the outer end of the base; A position control motor is fixed on the front side of the base, and a screw is fixed on the output end of the position control motor. The outer end of the screw is threadedly connected to a moving plate, and a mechanical arm is installed on the moving plate. A loading and unloading mechanism is installed at the rear of the mechanical arm, and the loading and unloading mechanism includes a central motor, a rotating rod, a manual telescopic rod, a loading and unloading motor, a connecting rod and an inner hexagonal tube. The output end of the central motor is fixed with a rotating rod, the rear end of the rotating rod is installed with a manual telescopic rod, the outer end of the manual telescopic rod is fixed with a loading and unloading motor, and the output end of the loading and unloading motor is fixed with a connecting rod, the rear end of the connecting rod is connected with an inner hexagonal tube, and a fixing rod is arranged on the outer side of the central motor; A mounting mechanism is arranged on the outer side of the loading and unloading mechanism, and the mounting mechanism comprises a front cover, an arc plate and a rear cover, and the front cover is fixedly connected to the rear cover through the arc plate, and a clamping mechanism is installed in the mounting mechanism, and the clamping mechanism comprises a clamping motor, a first gear, a gear ring, a second gear and a positioning arm, and the clamping motor is fixed to the front side surface of the front cover, and the output end of the clamping motor is fixed to the first gear, and the bottom end of the first gear is meshedly connected to the gear ring, the outer end of the gear ring is meshedly connected to the second gear, and the outer side surface of the second gear is fixed to the positioning arm.

[0005] By adopting the above technical solution, the positions of the outer ends of the positioning arms set at equal angles can be quickly adjusted, the tire can be quickly fixed, the screws on the tire can be conveniently loosened mechanically, and the tire can be transported by using the clamping mechanism to move left and right, lift, rotate and flip, thereby reducing the workload of the staff.

[0006] Preferably, the moving mechanism includes a bottom plate, a top plate, an electric telescopic rod and a universal wheel, the bottom plate is fixed at equal intervals on the outer side surface of the bottom end of the base, the top plate is fixed at equal intervals on the outer side surface of the top end of the base, the electric telescopic rod is fixed on the lower surface of the top plate, and the universal wheel is fixed on the output end of the electric telescopic rod, and a hole for the universal wheel to pass through is opened inside the bottom plate.

[0007] Preferably, the robotic arm includes a first angle control motor, a side plate, a first support rod, a second support rod, a third support rod, a second angle control motor and a third angle control motor, the first angle control motor is fixed to the upper surface of the movable plate, the side plate is fixed to the output end of the first angle control motor, and the inner side of the side plate is rotatably connected to the first support rod, the outer side of the first support rod is connected to the third angle control motor, the second support rod is fixed to the output end of the third angle control motor, and the inner side of the second support rod is rotatably connected to the third support rod, and the second angle control motor is fixed to the front side surface of the side plate and the front side surface of the second support rod.

[0008] Preferably, the right end of the third support rod and the right end of the first support rod are both fixed with an output shaft of the second angle control motor.

[0009] Preferably, a central motor is fixed to the rear side of the third support rod.

[0010] Preferably, the third support rod is fixedly connected to the front cover via a fixing rod, and the fixing rod is fixed at an equal angle to the rear side of the third support rod.

[0011] Preferably, the inner ends of the front cover and the rear cover are rotatably mounted with outer ends of the gear rings.

[0012] Preferably, the longitudinal section of the positioning arm is in an "L"-shaped structure, and the positioning arm is arranged at an equal angle between the front cover and the rear cover.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: the tire-changing robot for vehicle rescue can quickly adjust the positions of the outer ends of the positioning arms set at equal angles, quickly fix the tire, conveniently loosen the screws on the tire by mechanical means, and utilize the left and right movement, lifting and lowering, and rotation and flipping of the clamping mechanism to transport the tire, thereby reducing the work intensity of the staff; 1. The clamping motor drives the first gear and the gear ring to rotate, so that the three groups of second gears set at equal angles rotate synchronously, and then the three groups of positioning arms set at equal angles rotate synchronously, which can quickly adjust the distance between the outer end of each positioning arm set at equal angles and the mounting mechanism, so that the positioning arm fits closely with the outer side of tires of different sizes, and quickly fixes the tires; Since the outer side of the tire is made of rubber, the rubber of the tire is used to increase the friction between the tire and the positioning arm, thereby improving stability, and the positioning arms set at equal angles can be used to clamp tires of different sizes; 2. By adjusting the length of the manual telescopic rod, the loading and unloading motor, the connecting rod and the hexagonal tube are aligned with the screws on the tire. After the hexagonal tube is connected to the screw, the loading and unloading motor drives the connecting rod and the hexagonal tube to rotate, and the screw can be loosened. The central motor gradually drives the manual telescopic rod, the loading and unloading motor, the connecting rod and the hexagonal tube to rotate through the rotating rod, so that the hexagonal tube is connected to different screws, so as to facilitate the use of machinery to loosen each screw on the tire; The loading and unloading mechanism is located inside the installation mechanism and the clamping mechanism. When the loading and unloading mechanism loosens the screws, the clamping mechanism and the installation mechanism block the tire. The clamping mechanism can limit the tire to avoid the danger caused by the tire tipping over. 3. The clamping mechanism can be moved forward and backward by the position control motor, the screw and the moving plate, and can be moved left and right by the moving mechanism. The mechanical arm can lift, turn and flip the clamping mechanism, so that the tire that is detached from the vehicle body and clamped inside the clamping mechanism can be placed stably on the ground, which is convenient for installing new tires and transporting tires. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a schematic diagram of the first axial side structure of the present invention; Figure 2 It is a schematic diagram of the connection structure between the rear cover and the front cover of the present invention; Figure 3 It is a schematic diagram of the cross-section structure of the clamping mechanism of the present invention; Figure 4 It is a schematic diagram of the second axial side structure of the present invention; Figure 5 It is a schematic diagram of the disassembly structure of the clamping mechanism of the present invention; Figure 6 It is a schematic diagram of the structure of the clamping mechanism of the present invention in a flipping state; Figure 7 This is a schematic diagram of the shaft side structure of the loading and unloading mechanism of the present invention; Figure 8 This is a schematic diagram of the cross-section structure of the base of the present invention; Fig. 9 It is a schematic diagram of the connection structure between the clamping rod and the front cover of the present invention; Fig.10 It is a schematic diagram of the third axial structure of the present invention.

[0015] In the figure: 1, base; 2, moving mechanism; 201, bottom plate; 202, top plate; 203, electric telescopic rod; 204, universal wheel; 3, position control motor; 4, screw rod; 5, moving plate; 6, mechanical arm; 601, first angle control motor; 602, side plate; 603, first support rod; 604, second support rod; 605, third support rod; 606, second angle control motor; 607, third angle control motor; 7. Loading and unloading mechanism; 701. Center motor; 702. Rotating rod; 703. Manual telescopic rod; 704. Loading and unloading motor; 705. Connecting rod; 706. Hexagonal tube; 8. Fixing rod; 9. Installation mechanism; 901. Front cover; 902. Arc plate; 903. Rear cover; 10. Clamping mechanism; 1001. Clamping motor; 1002. First gear; 1003. Gear ring; 1004. Second gear; 1005. Positioning arm. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1-10The present invention provides a tire changing robot for vehicle rescue; comprising a base 1, a moving mechanism 2, a position control motor 3, a screw 4, a moving plate 5, a mechanical arm 6, a loading and unloading mechanism 7, a fixing rod 8, a mounting mechanism 9 and a clamping mechanism 10, such as Figure 1 , Figure 4 , Figure 6 and Fig.10 As shown, a moving mechanism 2 is installed at the outer end of the base 1, and the moving mechanism 2 includes a bottom plate 201, a top plate 202, an electric telescopic rod 203 and a universal wheel 204. The bottom plate 201 is fixed to the outer side surface of the bottom end of the base 1 at equal intervals, and the top plate 202 is fixed to the outer side surface of the top end of the base 1 at equal intervals. The electric telescopic rod 203 is fixed to the lower surface of the top plate 202, and the universal wheel 204 is fixed to the output end of the electric telescopic rod 203. A hole for the universal wheel 204 to pass through is opened inside the bottom plate 201; When the device needs to be moved, the electric telescopic rod 203 is extended, and the base 1 is lifted under the action of the electric telescopic rod 203, the bottom plate 201 is lifted off the ground, and the universal wheel 204 is exposed. The robot moves under the action of the universal wheel 204, and the tire-changing robot is moved to the side of the tire that needs to be changed, and then the electric telescopic rod 203 is shortened, and the bottom plate 201 and the base 1 are in contact with the ground, limiting the universal wheel; like Figure 1 and Figure 8 As shown, a position control motor 3 is fixed to the front side of the base 1, and a screw 4 is fixed to the output end of the position control motor 3, and a moving plate 5 is threadedly connected to the outer end of the screw 4, and a mechanical arm 6 is installed on the moving plate 5. The control motor 3 controls the screw 4 to rotate clockwise and counterclockwise. By utilizing the clockwise and counterclockwise rotation of the screw 4, the moving plate 5 moves back and forth inside the base 1, thereby moving the mechanical arm 6 back and forth, and adjusting the distance between the mechanical arm 6 and the tire of the car; A loading and unloading mechanism 7 is installed behind the mechanical arm 6. Figure 4 , Figure 6 and Figure 7 As shown, the loading and unloading mechanism 7 includes a central motor 701, a rotating rod 702, a manual telescopic rod 703, a loading and unloading motor 704, a connecting rod 705 and an inner hexagonal tube 706. The output end of the central motor 701 is fixed with the rotating rod 702, the rear end of the rotating rod 702 is installed with the manual telescopic rod 703, the outer end of the manual telescopic rod 703 is fixed with the loading and unloading motor 704, and the output end of the loading and unloading motor 704 is fixed with the connecting rod 705, and the rear end of the connecting rod 705 is connected with the inner hexagonal tube 706; The tire-changing robot is moved under the action of the moving mechanism 2 so that the center of the output shaft of the central motor 701 inside the loading and unloading mechanism 7 is located at the same position as the center of the tire to be changed, and the length of the manual telescopic rod 703 is adjusted so that the loading and unloading motor 704, the connecting rod 705 and the hexagonal tube 706 are aligned with the screw position on the tire; The position control motor 3 drives the screw 4 to rotate clockwise, so that the moving plate 5 and the mechanical arm 6 move backward, and thus the clamping mechanism 10 moves backward, as shown in FIG. Figure 1-Figure 5 and Fig.10 As shown, the clamping mechanism 10 includes a clamping motor 1001, a first gear 1002, a gear ring 1003, a second gear 1004 and a positioning arm 1005. The clamping motor 1001 is fixed to the front side of the front cover 901, the first gear 1002 is fixed to the output end of the clamping motor 1001, and the bottom end of the first gear 1002 is meshedly connected with the gear ring 1003, the outer end of the gear ring 1003 is meshedly connected with the second gear 1004, and the positioning arm 1005 is fixed to the outer side of the second gear 1004. The clamping motor 1001 drives the first gear 1002 to rotate, and the gear ring 1003 meshing with the first gear 1002 rotates, so that each second gear 1004 meshing with the gear ring 1003 rotates synchronously, so that each positioning arm 1005 arranged at an equal angle rotates synchronously, and the distance between the outer end of each positioning arm 1005 with an "L"-shaped longitudinal section and the mounting mechanism 9 is adjusted, so that the inner side of the positioning arm 1005 and the outer side of the tire are quickly fitted, and the position of the positioning arm 1005 is quickly adjusted; Under the action of the position control motor 3 and the screw rod 4, the loading and unloading mechanism 7 is moved backward, so that the hexagonal tube 706 inside the loading and unloading mechanism 7 is docked with the screw on the tire, and the loading and unloading motor 704 is started, and the loading and unloading motor 704 drives the connecting rod 705 and the hexagonal tube 706 to rotate, and the screw is loosened. The central motor 701 drives the rotating rod 702 and the manual telescopic rod 703 to rotate, thereby adjusting the positions of the loading and unloading motor 704, the connecting rod 705 and the hexagonal tube 706, so that the loading and unloading motor 704, the connecting rod 705 and the hexagonal tube 706 are located at the front side where the screws are not needed, and the loading and unloading mechanism 7 is used to loosen each screw, and the hexagonal tube 706 and the connecting rod 705 form a disassembly structure so that the disassembly tool connected to the connecting rod 705 can be replaced; The clamping motor 1001 drives the first gear 1002, the gear ring 1003 and the second gear 1004 to rotate, so that the positioning arm 1005 opens and the positioning arm 1005 leaves the tire. Then the staff lifts the tire with a jack so that the tire slightly leaves the ground, and moves the loading and unloading mechanism 7 left and right through the moving mechanism 2. The mechanical arm 6 controls the height of the loading and unloading mechanism 7. The mechanical arm 6 includes a first angle control motor 601, a side plate 602, a first support rod 603, a second support rod 604, a third support rod 605, a second angle control motor 606 and a third angle control motor 607. The first angle control motor 601 is fixed to the upper surface of the moving plate 5, and the output end of the first angle control motor 601 is fixed to the side plate 602, and the side plate 602 The inner side of the side plate 602 is rotatably connected to the first support rod 603, the outer side of the first support rod 603 is connected to the third angle control motor 607, the output end of the third angle control motor 607 is fixed to the second support rod 604, and the inner side of the second support rod 604 is rotatably connected to the third support rod 605, the front side surface of the side plate 602 and the front side surface of the second support rod 604 are both fixed with the second angle control motor 606, the right end of the third support rod 605 and the right end of the first support rod 603 are both fixed with the output shaft of the second angle control motor 606, the rear side surface of the third support rod 605 is fixed with the center motor 701, the third support rod 605 is fixedly connected to the front cover 901 through the fixing rod 8, and the fixing rod 8 is fixed at an equal angle to the rear side surface of the third support rod 605; The second angle control motor 606 drives the first support rod 603, the second support rod 604 and the third support rod 605 to rotate, thereby lifting the loading and unloading mechanism 7. The moving mechanism 2 and the mechanical arm 6 cooperate to adjust the position of the central motor 701, so that the central motor 701 continues to coincide with the center of the tire. The screws on the tire are loosened by the loading and unloading motor 704, the connecting rod 705 and the hexagonal tube 706. The staff manually removes each screw. When all the screws are removed, the installation mechanism 9 blocks the tire, thereby preventing the tire from tipping forward and causing danger. The clamping motor 1001 drives the first gear 1002, the gear ring 1003 and the second gear 1004 to rotate, so that the positioning arm 1005 turns inward, and the positioning arm 1005 clamps the tire, and then the clamping mechanism 10 is controlled to move forward under the action of the position control motor 3, and then the third angle control motor 607 drives the second support rod 604 to flip 90 degrees, so that the clamping mechanism 10 faces the ground, and then the clamping mechanism 10 is rotated horizontally under the action of the first angle control motor 601, and then the clamping mechanism 10 is lowered by the mechanical arm 6, so as to lower the tire and put the tire on the ground. In the process of lifting the tire, the staff stands on the bottom plate 201, and the tire changing robot can be more stable; Then the new tire is grasped by the robot arm 6 and the clamping mechanism 10, the screw hole on the new tire is aligned with the tire on the vehicle body, and the screws are gradually installed along the diagonal line by the loading and unloading mechanism 7. After the screws are installed, the robot is moved away from the tire under the action of the position control motor 3; The above completes a series of operations of the tire changing robot for vehicle rescue. The contents not described in detail in this specification belong to the existing technology known to professional and technical personnel in this field.

[0018] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the instructions and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0019] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A tire changing robot for vehicle rescue, comprising a base (1), a moving mechanism (2) and a mechanical arm (6), characterized in that: A moving mechanism (2) is installed at the outer end of the base (1); A position control motor (3) is fixed to the front side of the base (1), and a screw rod (4) is fixed to the output end of the position control motor (3); the outer end of the screw rod (4) is threadedly connected to a moving plate (5), and a mechanical arm (6) is mounted on the moving plate (5); A loading and unloading mechanism (7) is installed at the rear of the mechanical arm (6), and the loading and unloading mechanism (7) comprises a central motor (701), a rotating rod (702), a manual telescopic rod (703), a loading and unloading motor (704), a connecting rod (705) and an inner hexagonal tube (706); the rotating rod (702) is fixed to the output end of the central motor (701); the manual telescopic rod (703) is installed at the rear end of the rotating rod (702); the loading and unloading motor (704) is fixed to the outer end of the manual telescopic rod (703); the connecting rod (705) is fixed to the output end of the loading and unloading motor (704); the rear end of the connecting rod (705) is connected to the inner hexagonal tube (706); and a fixing rod (8) is arranged on the outer side of the central motor (701); The outside of the loading and unloading mechanism (7) is provided with a mounting mechanism (9), the mounting mechanism (9) comprising a front cover (901), an arc-shaped plate (902) and a rear cover (903), the front cover (901) being fixedly connected to the rear cover (903) via the arc-shaped plate (902), and a clamping mechanism (10) being installed inside the mounting mechanism (9), the clamping mechanism (10) comprising a clamping motor (1001), a first gear (1002), a gear ring (1003), a second gear A front cover (901) is provided with a clamping motor (1001) fixed to the front side surface, a first gear (1002) is fixed to the output end of the clamping motor (1001), a gear ring (1003) is meshedly connected to the bottom end of the first gear (1002), a second gear (1004) is meshedly connected to the outer end of the gear ring (1003), and a positioning arm (1005) is fixed to the outer side surface of the second gear (1004).

2. The tire-changing robot for vehicle rescue according to claim 1, characterized in that: The mobile mechanism (2) comprises a bottom plate (201), a top plate (202), an electric telescopic rod (203) and a universal wheel (204); the bottom plate (201) is fixed at equal intervals on the outer side surface of the bottom end of the base (1); the top plate (202) is fixed at equal intervals on the outer side surface of the top end of the base (1); the electric telescopic rod (203) is fixed on the lower surface of the top plate (202); the universal wheel (204) is fixed on the output end of the electric telescopic rod (203); and a hole is provided inside the bottom plate (201) for the universal wheel (204) to pass through.

3. The tire-changing robot for vehicle rescue according to claim 1, characterized in that: The mechanical arm (6) comprises a first angle control motor (601), a side plate (602), a first support rod (603), a second support rod (604), a third support rod (605), a second angle control motor (606) and a third angle control motor (607); the first angle control motor (601) is fixed to the upper surface of the movable plate (5); the output end of the first angle control motor (601) is fixed to the side plate (602), and the inner side of the side plate (602) is rotatably connected to the first support rod (603); the outer side of the first support rod (603) is connected to the third angle control motor (607); the output end of the third angle control motor (607) is fixed to the second support rod (604), and the inner side of the second support rod (604) is rotatably connected to the third support rod (605); the front side surface of the side plate (602) and the front side surface of the second support rod (604) are both fixed to the second angle control motor (606).

4. The tire-changing robot for vehicle rescue according to claim 3, characterized in that: The right end of the third support rod (605) and the right end of the first support rod (603) are both fixed with an output shaft of the second angle control motor (606).

5. The tire-changing robot for vehicle rescue according to claim 3, characterized in that: A central motor (701) is fixed to the rear side of the third support rod (605).

6. The tire-changing robot for vehicle rescue according to claim 3, characterized in that: The third support rod (605) is fixedly connected to the front cover (901) via a fixing rod (8), and the fixing rod (8) is fixed at an equal angle to the rear side of the third support rod (605).

7. The tire-changing robot for vehicle rescue according to claim 1, characterized in that: The inner ends of the front cover (901) and the rear cover (903) are rotatably mounted with the outer ends of the gear ring (1003).

8. The tire-changing robot for vehicle rescue according to claim 1, characterized in that: The longitudinal section of the positioning arm (1005) is in an "L"-shaped structure, and the positioning arm (1005) is arranged at an equal angle between the front cover (901) and the rear cover (903).

Images