Auxiliary dismounting and mounting robot for wheels of tractor and engineering machinery vehicle

Abstract

The invention relates to the technical field of tractor wheel disassembly and assembly, and discloses a tractor and engineering machinery vehicle wheel auxiliary disassembly and assembly robot which comprises a movable chassis, an outer frame, an opening and closing device and a driving device. The outer frame, the opening and closing device and the driving device are used in cooperation for assisting wheel disassembly and assembly, and the opening and closing device is used for limiting wheels with different curvatures. By means of the movable chassis and the driving device, the auxiliary device suitable for installation of the large wheels is designed, and when the angles of the uninstalled wheels need to be finely adjusted in the circumferential direction, the wheels are driven to rotate through the rollers of the opening and closing device. The device has self-adaptability to wheels with different outer diameters, envelope lines with different curvatures are formed by adjusting opening and closing of the arc-shaped plates through the tail ends of the gas springs, the transverse, longitudinal and height positions of the wheels can be finely adjusted when the wheels are installed and used, the angles of the wheels in the circumferential direction can be adjusted, workers can conveniently conduct installation operation, and the installation efficiency is improved. And the labor intensity of workers is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of wheel disassembly and assembly, and specifically relates to a wheel auxiliary disassembly and assembly robot for tractors and construction machinery vehicles. Background Art

[0002] For construction machinery vehicles such as bulldozers and tractors, large wheels and axles need to be installed in the production workshop. Due to the large mass of the wheels, when aligning the through holes of the wheel hubs and the threaded holes on the end faces of the axles during installation, it is necessary to finely adjust the height of the hub and the axis of the through hole of the hub so that the axis of the through hole of the hub and the axis of the threaded hole of the axle are on the same horizontal line to ensure the smooth progress of the installation.

[0003] Currently, in the production workshop, installation is often carried out by hoisting, which requires the cooperation of multiple people, has a large labor intensity, low installation efficiency, and does not have the function of aligning the through holes of the hubs and the threaded holes of the axles.

[0004] In view of this, the present invention is specifically proposed. Summary of the Invention

[0005] To solve the technical problems of the above-mentioned prior art that installation is carried out by hoisting, which requires the cooperation of multiple people, has a large labor intensity, and low installation efficiency, the basic concept of the technical solution adopted by the present invention is as follows: A wheel auxiliary disassembly and assembly robot for tractors and construction machinery vehicles, comprising a mobile chassis, an outer frame, an opening and closing device, and a driving device; the outer frame, the opening and closing device, and the driving device are arranged on the mobile chassis, and the combined use of the outer frame, the opening and closing device, and the driving device is used for assisting in the wheel disassembly and assembly operation, and the opening and closing device is used for limiting the operation of wheels with different curvatures; the mobile chassis includes Mecanum wheels, U-shaped frames, cross beams, and longitudinal beams. There are two cross beams and longitudinal beams each, and the two cross beams and longitudinal beams form the platform of the mobile chassis by a fixed connection method. The number of Mecanum wheels and U-shaped frames is four each, and the Mecanum wheels are arranged at the four corners of the mobile chassis through the U-shaped frames; The outer frame includes vertical beams, vertical guide rails, vertical connecting plates, upper chain shafts, first-stage chains, second-stage chains, hoisting motors, and lower chain shafts; The opening and closing device includes an intermediate beam, sliders, gas springs, arc plates, driven shafts, driving shafts, and rollers; The driving device includes an L-shaped plate, an outer housing, a driving motor, a planetary gear train, an upper main bevel gear, and a driving output shaft.

[0006] As a preferred embodiment of the present invention, two sets of vertical beams are provided, and the two sets of vertical beams are distributed at the left and right ends of the driving device. Two vertical beams in each set are connected to the left and right cross beams by bolts; the tops of the two vertical beams on each side are connected by a vertical connecting plate. Horizontal through holes are provided on the upper and lower end walls of the two vertical beams on each side. The upper chain shaft is installed in the horizontal through holes at the upper ends of the two vertical beams on each side through bearings. An upper sprocket is installed on the upper chain shaft through a key and a snap ring. The lower chain shaft is installed in the horizontal through holes at the lower ends of the two vertical beams on each side through bearings. A lower sprocket is installed on the lower chain shaft through a key and a snap ring. The upper sprocket and the lower sprocket are connected and driven by a secondary chain.

[0007] As a preferred embodiment of the present invention, the hoisting motor is installed on the top of each side of the vertical beam through a fixed bracket. A bevel gear reducer and a secondary speed reducer are also installed on the fixed bracket. The hoisting motor outputs power through the bevel gear reducer and the secondary speed reducer. The hoisting motor outputs a torque rotating along the horizontal plane after being decelerated by the bevel gear reducer, and then the torque is input into the secondary speed reducer. The secondary speed reducer is connected to the primary chain through a sprocket. The torque of the hoisting motor is transmitted to the primary chain through the sprocket after being decelerated twice. Two ends of the primary chain are respectively connected with a driving sprocket and a driven sprocket. The driving sprocket is connected to the power output by the secondary speed reducer. The driven sprocket is installed on the upper chain shaft. The power of the primary chain is transmitted to the secondary chain through the upper chain shaft. The number of teeth of the driving sprockets of the primary chain and the secondary chain is less than that of the driven sprockets; the number of the vertical guide rails is four, and two are provided on each side. The two vertical guide rails on each side are installed in the middle of the two vertical beams through a vertical connecting plate.

[0008] As a preferred embodiment of the present invention, vertical holes are provided at both ends of the middle beam. The vertical holes of the middle beam are sleeved on the vertical guide rails through linear bearings. Hoisting rings are provided at both ends of the middle beam. The middle beam is connected to the secondary chain through the hoisting rings at the left and right ends. The forward and reverse rotation of the upper chain shaft drives the middle beam to move up and down. Multiple groups of limit holes are provided on the middle beam. Sliders are sleeved on the middle beam. The number of sliders is two. The sliders are provided with slider holes. An outer ear seat is provided at the upper end of each of the two sliders. Inner ear seats symmetrically distributed are provided in the middle of the middle beam. The number of arc-shaped plates is two, and the two arc-shaped plates are symmetrically distributed on both sides of the driving device.

[0009] As a preferred embodiment of the present invention, through holes are provided at the ends of the arc-shaped plates. The through holes at the ends of the arc-shaped plates are coaxially assembled with the inner ear seats. The driven shafts are installed in the inner ear seats of the middle beam and the through holes at the ends of the arc-shaped plates through cylindrical roller bearings. Uniformly distributed position holes are provided on the outer sides of the arc-shaped plates. The top ends of the arc-shaped plates are connected to the sliders through gas springs. Both ends of the gas springs are connected to the outer ear seats on the sliders and the position holes on the outer sides of the arc-shaped plates through rotating pairs. The sliders on both sides can slide longitudinally along the middle beam, and the sliders on both sides are limited by the relative positions of the slider holes and the limiting holes. The top ends of the gas springs are installed in cooperation with the position holes at different positions on the arc-shaped plates; uniformly distributed roller holes are provided on the arc-shaped plates.

[0010] As a preferred embodiment of the present invention, the rollers include L-shaped tubes, radial rollers, and circumferential rollers. Circumferential rollers are arranged at the front and rear ends of both driven shafts. The circumferential rollers are in interference fit with the driven shafts. The circumferential rollers and the radial rollers are installed at one end of the L-shaped tube through deep groove ball bearings. The L-shaped tube then passes through the roller holes on the arc-shaped plates and is in interference fit with the roller holes. The other end of the L-shaped tube is then installed and connected to the circumferential roller through a deep groove ball bearing. The circumferential rollers and the radial rollers are distributed in the circumferential direction of the arc-shaped plate through the L-shaped tube; key grooves are provided on the driven shafts, and driven spur gears are installed on the driven shafts through splines and snap rings. Key grooves are provided on the driving shafts, and driving spur gears are installed on the driving shafts through splines and snap rings. The driving spur gears are meshed with the driven spur gears. The other end of the driving shaft is installed with an outer driven gear through a key and a snap ring.

[0011] As a preferred embodiment of the present invention, the L-shaped plate is installed at the middle position of the middle beam through screws. An outer driving gear is installed on the driving output shaft of the driving device. The outer driving gear is meshed with the driven gear. The power of the driving output shaft in the driving device is transmitted to the driven shaft. The driving motor is fixedly installed on the side wall of the L-shaped plate. The output shaft of the driving motor is connected with a lower input shaft through an external spline. A main bevel gear is installed on the lower input shaft through a spline and a snap ring. The main bevel gear meshes with a driven bevel gear.

[0012] As a preferred embodiment of the present invention, the planetary gear train includes a sun gear, planetary gears, an outer gear ring, and a planetary carrier. The sun gear meshes with the planetary gears installed on the planetary carrier. The planetary gears are simultaneously meshed with the outer gear ring. The outer gear ring is fixed to the outer housing through screws. The output end of the planetary gear train is connected with an upper main bevel gear through a key and a snap ring. An upper driven bevel gear is installed on the driving output shaft through a key and a snap ring. The upper main bevel gear meshes with the two upper driven bevel gears on the left and right. The driving output shaft is installed in the outer housing through bearings. The power input end of the planetary gear train is the sun gear, and the power output end of the planetary gear train is the planetary carrier. The sun gear and the driven bevel gear are coaxially installed together. The bottom end of the driven bevel gear is rotationally installed on the wall surface of the L-shaped plate through a rotating shaft and a bearing. The sun gear and the driven bevel gear have the same rotational speed.

[0013] As a preferred embodiment of the present invention, the power of the drive motor is transmitted to the sun gear through the meshing of the main bevel gear and the driven bevel gear. The speed of the drive motor is reduced by the planetary gear train and then transmitted to the upper main bevel gear. After the upper main bevel gear meshes with the upper driven bevel gear, the power is transmitted to the drive output shaft. The outer driving gear on the drive output shaft meshes with the outer driven gear to transmit the power to the driving spur gear. Both the outer driving gear and the outer driven gear are bevel gears. The driving spur gear and the outer driven gear are coaxially installed and have the same speed. The driven spur gear is installed on the driven shaft. The driving spur gear and the driven spur gear mesh to transmit the power on the drive output shaft to the driven shaft. The number of teeth of the driving spur gear is less than that of the driven spur gear.

[0014] As a preferred embodiment of the present invention, the McCallum wheel is connected to the U-shaped frame through a bearing and a shaft, and the U-shaped frame is installed and connected to the cross beam and the longitudinal beam through bolts.

[0015] The present invention has the following beneficial effects compared with the prior art: 1. With the help of the mobile chassis and the drive device, the present invention designs an auxiliary device suitable for the installation of large wheels. When the unmounted wheel needs to be finely adjusted in the circumferential direction, the roller of the opening and closing device drives the wheel to rotate.

[0016] 2. The present invention has adaptability to wheels with different outer diameters. By adjusting the opening and closing of the arc-shaped plate at the end of the gas spring, an envelope line with different curvatures is formed, which has an applicable function for wheels with different outer diameters.

[0017] 3. The wheel auxiliary disassembly and assembly robot of the present invention can finely adjust the lateral, longitudinal and height positions of the wheel, as well as adjust the angle of the wheel in the circumferential direction during the wheel installation in the production workshop, which is convenient for workers to carry out the installation operation and reduces the labor intensity of the workers.

[0018] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. Description of the Drawings

[0019] In the drawings: Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the schematic diagram of the vertical movement mode of the present invention; Figure 3 is the schematic diagram of the connection mode of the arc-shaped plate of the present invention; Figure 4 is the structural schematic diagram of the opening and closing device of the present invention; Figure 5 is the structural schematic diagram of the drive device of the present invention.

[0020] In the figure: 1. Mobile chassis; 11. Mecanum wheel; 12. U-shaped frame; 13. Cross beam; 14. Longitudinal beam; 2. Outer frame; 21. Vertical beam; 22. Vertical guide rail; 23. Vertical connecting plate; 24. Upper chain shaft; 241. Upper sprocket; 25. First-stage chain; 26. Second-stage chain; 27. Hoisting motor; 271. Bevel gear reducer; 272. Second-stage speed reducer; 28. Lower chain shaft; 281. Lower sprocket; 3. Opening and closing device; 31. Intermediate beam; 311. Vertical hole; 312. Suspension ring; 313. Inner ear seat; 314. Limit hole; 32. Slide block; 321. Slide block hole; 322. Outer ear seat; 33. Gas spring; 34. Arc plate; 341. Position hole; 342. Roller hole; 35. Driven shaft; 352. Driven spur gear; 36. Driving shaft; 361. Driving spur gear; 37. Roller; 371. L-shaped pipe; 372. Radial roller; 373. Circumferential roller; 4. Driving device; 41. L-shaped plate; 42. Outer housing; 43. Driving motor; 431. Lower input shaft; 432. Main bevel gear; 433. Driven bevel gear; 44. Planetary gear train; 441. Sun gear; 442. Planet gear; 443. Outer gear ring; 444. Planet carrier; 45. Upper main bevel gear; 46. Driving output shaft; 461. Outer driving gear; 462. Outer driven gear; 463. Upper driven bevel gear. Detailed implementation manners

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0022] The wheel auxiliary disassembly and assembly robot for tractors and construction machinery vehicles, as Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, includes a mobile chassis 1, an outer frame 2, an opening and closing device 3 and a driving device 4. The outer frame 2, the opening and closing device 3 and the driving device 4 are arranged on the mobile chassis 1. The combined use of the outer frame 2, the opening and closing device 3 and the driving device 4 is used for assisting in the wheel disassembly and assembly operation. The opening and closing device 3 is used for limiting the wheels with different curvatures; the mobile chassis 1 includes Mecanum wheels 11, U-shaped frames 12, cross beams 13 and longitudinal beams 14. There are two cross beams 13 and longitudinal beams 14 respectively. The two cross beams 13 and longitudinal beams 14 form the platform of the mobile chassis 1 by means of fixed connection. The number of Mecanum wheels 11 and U-shaped frames 12 is four each. The Mecanum wheels 11 are arranged at the four corners of the mobile chassis 1 through the U-shaped frames 12. The Mecanum wheels 11 are connected to the U-shaped frames 12 through bearings and shafts. The U-shaped frames 12 are installed and connected to the cross beams 13 and longitudinal beams 14 by bolts.

[0023] Such as Figure 1 , Figure 2, Figure 3 and Figure 4 As shown in ,

[0024] , Figure 1 , Figure 2 , Figure 3 and Figure 4 , the outer frame 2 includes vertical beams 21, vertical guide rails 22, vertical connecting plates 23, upper chain shafts 24, first-stage chains 25, second-stage chains 26, hoisting motors 27 and lower chain shafts 28. There are two groups of vertical beams 21, and the two groups of vertical beams 21 are distributed at the left and right ends of the driving device 4. The two vertical beams 21 in each group are bolted to the left and right cross beams 13; the tops of the two vertical beams 21 on each side are connected by vertical connecting plates 23. Horizontal through holes are opened on the upper and lower end walls of the two vertical beams 21 on each side. The upper chain shaft 24 is installed in the horizontal through holes at the upper ends of the two vertical beams 21 on each side through bearings. An upper sprocket 241 is installed on the upper chain shaft 24 through a key and a snap ring. The lower chain shaft 28 is installed in the horizontal through holes at the lower ends of the two vertical beams 21 on each side through bearings. A lower sprocket 281 is installed on the lower chain shaft 28 through a key and a snap ring. The upper sprocket 241 and the lower sprocket 281 are connected and driven by a second-stage chain 26. The hoisting motor 27 is installed on the top of the vertical beam 21 on each side through a fixed bracket. A bevel gear reduction box 271 and a second-stage reduction box 272 are also installed on the fixed bracket. The hoisting motor 27 is power-connected through the bevel gear reduction box 271 and the second-stage reduction box 272. The hoisting motor 27 outputs a torque rotating along the horizontal plane after being decelerated by the bevel gear reduction box 271, and then inputs the torque into the second-stage reduction box 272. The second-stage reduction box 272 is connected to the first-stage chain 25 through a sprocket. The torque of the hoisting motor is transmitted to the first-stage chain 25 through the sprocket after being decelerated by the second-stage reduction. The two ends of the first-stage chain 25 are respectively connected with a driving sprocket and a driven sprocket. The driving sprocket is connected to the power output by the second-stage reduction box 272, and the driven sprocket is installed on the upper chain shaft 24. The power of the first-stage chain 25 is transmitted to the second-stage chain 26 through the upper chain shaft 24. The number of teeth of the driving sprockets of the first-stage chain 25 and the second-stage chain 26 is less than that of the driven sprockets; the number of vertical guide rails 22 is four, and two are arranged on each side. The two vertical guide rails 22 on each side are installed in the middle of the two vertical beams 21 through vertical connecting plates 23.

[0024] As Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the opening and closing device 3 includes an intermediate beam 31, sliders 32, gas springs 33, arc-shaped plates 34, a driven shaft 35, a driving shaft 36, and rollers 37. Vertical holes 311 are provided at both ends of the intermediate beam 31. The vertical holes 311 of the intermediate beam 31 are sleeved on the vertical guide rails 22 through linear bearings. Hoisting rings 312 are provided at both ends of the intermediate beam 31. The intermediate beam 31 is connected to the secondary chain 26 through the hoisting rings 312 at both the left and right ends. The forward and reverse rotation of the upper chain shaft 241 drives the intermediate beam 31 to move up and down. A plurality of limiting holes 314 are provided on the intermediate beam 31. The number of sliders 32 is two. The sliders 32 are provided with slider holes 321. The sliders 32 are sleeved on the intermediate beam 31. Two outer ear seats 322 are provided at the upper ends of the sliders 32. Two symmetrically distributed inner ear seats 313 are provided in the middle of the intermediate beam 31. The number of arc-shaped plates 34 is two, and the two arc-shaped plates 34 are symmetrically distributed on both sides of the driving device 4. Through holes are provided at the ends of the arc-shaped plates 34. The through holes at the ends of the arc-shaped plates 34 and the inner ear seats 313 are coaxially assembled. The driven shaft 35 is installed in the inner ear seats 313 of the intermediate beam 31 and the through holes at the ends of the arc-shaped plates 34 through cylindrical roller bearings. Uniformly distributed position holes 341 are provided on the outer sides of the arc-shaped plates 34. The top ends of the arc-shaped plates 34 are connected to the sliders 32 through gas springs 33. Both ends of the gas springs 33 are connected to the outer ear seats 322 on the sliders 32 and the position holes 341 on the outer sides of the arc-shaped plates 34 through rotating pairs. The two sliders 32 on both sides can slide longitudinally along the intermediate beam 31, and the two sliders 32 on both sides are limited by the relative positions of the slider holes 321 and the limiting holes 314. The top ends of the gas springs 33 are installed in cooperation with the position holes 341 at different positions on the arc-shaped plates 34 to envelope wheels with different outer diameters; Uniformly distributed roller holes 342 are provided on the arc-shaped plates 34.

[0025] As Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the roller 37 includes an L-shaped tube 371, a radial roller 372, and a circumferential roller 373. Circumferential rollers 373 are provided at the front and rear ends of each of the two driven shafts 35. The circumferential roller 373 is in interference fit with the driven shaft 35. The circumferential roller 373 and the radial roller 372 are installed at one end of the L-shaped tube 371 through a deep groove ball bearing. The L-shaped tube 371 then passes through the roller hole 342 on the arc-shaped plate 34 and is in interference fit with the roller hole 342. The other end of the L-shaped tube 371 is then installed and connected to the circumferential roller 373 through a deep groove ball bearing. The other circumferential rollers 373 and radial rollers 372 are installed in the same way. The circumferential rollers 373 and the radial rollers 372 are distributed in the circumferential direction of the arc-shaped plate 34 through the L-shaped tube 371. A keyway is formed on the driven shaft 35, and a driven spur gear 352 is installed on the driven shaft 35 through a spline and a snap ring. A keyway is formed on the driving shaft 36, and a driving spur gear 361 is installed on the driving shaft 36 through a spline and a snap ring. The driving spur gear 361 meshes with the driven spur gear 352. An external driven gear 462 is installed at the other end of the driving shaft 36 through a key and a snap ring.

[0026] As Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the driving device 4 includes an L-shaped plate 41, an outer housing 42, a driving motor 43, a planetary gear train 44, an upper main bevel gear 45, and a driving output shaft 46. The L-shaped plate 41 is installed at the middle position of the middle beam 31 by screws. An outer driving gear 461 is installed on the driving output shaft 46 of the driving device 4. The outer driving gear 461 meshes with a driven gear 462. The power of the driving output shaft 46 in the driving device 4 is transmitted to the driven shaft 35. The driving motor 43 is fixedly installed on the side wall of the L-shaped plate 41. The output shaft of the driving motor 43 is connected with a lower input shaft 431 through an external spline. A main bevel gear 432 is installed on the lower input shaft 431 through a spline and a snap ring. The main bevel gear 432 meshes with a driven bevel gear 433. The planetary gear train 44 includes a sun gear 441, a planetary gear 442, an external gear ring 443, and a planetary carrier 444. The sun gear 441 meshes with the planetary gear 442 installed on the planetary carrier 444. The planetary gear 442 meshes with the external gear ring 443 at the same time. The external gear ring 443 is fixed on the outer housing 42 by screws. The output end of the planetary gear train 44 is connected with the upper main bevel gear 45 through a key and a snap ring. An upper driven bevel gear 463 is installed on the output shaft 46 through a key and a snap ring. The upper main bevel gear 45 meshes with the left and right upper driven bevel gears 463. The output shaft 46 is installed on the outer housing 42 through bearings. The power input end of the planetary gear train 44 is the sun gear 441, and the power output end of the planetary gear train 44 is the planetary carrier 444. The sun gear 441 and the driven bevel gear 433 are coaxially installed together. The bottom end of the driven bevel gear 433 is installed on the wall surface of the L-shaped plate 41 through a rotating shaft and a bearing. The sun gear 441 and the driven bevel gear 433 have the same rotational speed. The power of the driving motor 43 is transmitted to the sun gear 441 through the meshing of the main bevel gear 432 and the driven bevel gear 433. The rotational speed of the driving motor 43 is reduced by the planetary gear train 44 and then transmitted to the upper main bevel gear 45. After the upper main bevel gear 45 meshes with the upper driven bevel gear 463, the power is transmitted to the driving output shaft 46. The outer driving gear 461 on the driving output shaft 46 meshes with the outer driven gear 462 to transmit the power to the driving spur gear 361. Both the outer driving gear 461 and the outer driven gear 462 are bevel gears. The driving spur gear 361 and the outer driven gear 462 are coaxially installed and have the same rotational speed. The driven spur gear 352 is installed on the driven shaft 35. The driving spur gear 361 meshes with the driven spur gear 352 to transmit the power on the driving output shaft 46 to the driven shaft 35. The number of teeth of the driving spur gear 361 is less than that of the driven spur gear 352.

[0027] When installing large wheels, move the slider 32 to both ends of the middle beam 31 during use. The position of the slider hole 321 is limited by the limit hole 314. Place the wheel in the opening and closing device 3, and select the installation positions of the top through hole of the gas spring 33 and the position hole 341 according to the outer diameter of the wheel until the arc-shaped plate 34 envelopes the outer edge of the wheel. Push the outer frame 2 with an external force. Under the action of the Mecanum wheel 11, the outer frame 2 can move horizontally and longitudinally in the horizontal plane according to the direction of the force. Push the outer frame 2 with an external force to make the wheel approach the threaded mounting hole on the axle end face. Rotate the outer frame 2 to make one end of the radial roller 372 of the opening and closing device 3 away from the axle end face. The radial roller 372 provides a horizontal thrust to make the tire approach the threaded mounting hole on the axle end face. When the mounting hole on the wheel rim is close to the threaded hole on the axle end face, finely adjust the horizontal and longitudinal positions of the wheel in the horizontal plane with an external force so that the mounting hole on the wheel rim and the threaded hole on the axle end face are on the same axis. The height of the wheel is adjusted by the hoisting motor 27. The hoisting motor 27 drives the middle beam 31 to rise and fall through forward and reverse rotation, thereby driving the wheel to rise and fall. When the wheel needs to rotate a small angle in the circumferential direction, the rotation speed of the drive motor 43 is reduced by the planetary gear train 44 and the driving spur gear 361 and the torque is transmitted to the driven shaft 35. Under the action of gravity, the circumferential rollers 373 on the wheel and the driven shaft 35 generate frictional force. The circumferential rollers 373 on the driven shaft 35 drive the wheel to rotate under the action of the frictional force. The circumferential rollers 373 on the L-shaped pipe 371 make the wheel and the circumferential rollers 373 roll relative to each other under the action of the deep groove ball bearing; drive the wheel to rotate clockwise or counterclockwise in the vertical plane through the forward and reverse rotation of the drive motor 43, thereby finely adjusting the angle of the wheel in the circumferential direction and adjusting the through hole on the wheel rim and the threaded mounting hole on the axle end face to be on the same axis, thus facilitating the installation of the wheel.

[0028] When disassembling large wheels during use, first move the two sliders 32 to both ends of the middle beam 31 to open the opening and closing device 3. Push the outer frame 2 with an external force to move the present invention to a suitable position below the wheel, and then select the installation positions of the upper through hole of the gas spring 33 and the position hole 341. Open the opening and closing device 3 to receive the wheel. Lift the middle beam 31 by the hoisting motor 27 until the circumferential rollers 373 contact the wheel, and then disassemble the bolts connecting the wheel rim and the axle end face. After disassembly, separate the wheel and the axle with an external force, and then lower the wheel to the ground by the hoisting motor 27 to complete the disassembly.

[0029] It will be understood that the present invention is described by way of some embodiments, and those skilled in the art will be aware that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Additionally, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A wheel-assisted disassembly and assembly robot for tractors and construction machinery vehicles, characterized in that: The invention comprises a mobile chassis (1), an outer frame (2), an opening and closing device (3) and a driving device (4); the outer frame (2), the opening and closing device (3) and the driving device (4) are arranged on the mobile chassis (1); the outer frame (2), the opening and closing device (3) and the driving device (4) are used in combination to assist in the disassembly and assembly of wheels; the opening and closing device (3) is used to limit the position of wheels with different curvatures; The mobile chassis (1) comprises McRae wheels (11), a U-shaped frame (12), a crossbeam (13) and a longitudinal beam (14), wherein there are two crossbeams (13) and two longitudinal beams (14), and the two crossbeams (13) and the longitudinal beam (14) are connected to form a platform of the mobile chassis (1), and there are four McRae wheels (11) and four U-shaped frames (12), and the McRae wheels (11) are arranged at four corners of the mobile chassis (1) through the U-shaped frames (12); The outer frame (2) comprises a vertical beam (21), a vertical guide rail (22), a vertical connecting plate (23), an upper chain shaft (24), a primary chain (25), a secondary chain (26), a lifting motor (27) and a lower chain shaft (28); The opening and closing device (3) comprises an intermediate beam (31), a slider (32), a gas spring (33), an arc plate (34), a driven shaft (35), a driving shaft (36), and a roller (37); The driving device (4) comprises an L plate (41), an outer shell (42), a driving motor (43), a planetary gear train (44), an upper main bevel gear (45), and a driving output shaft (46).

2. The wheel disassembly and assembly assisting robot for tractors and engineering vehicles according to claim 1, characterized in that: The vertical beams (21) are provided in two groups and the two groups of vertical beams (21) are distributed at the left and right ends of the driving device (4). The two vertical beams (21) of each group are connected to the left and right cross beams (13) by bolts. The top ends of the two vertical beams (21) on each side are connected by a vertical connecting plate (23). The upper and lower end walls of the two vertical beams (21) on each side are provided with transverse through holes. The upper chain shaft (24) is installed in the transverse through holes at the upper ends of the two vertical beams (21) on each side by bearings. An upper chain wheel (241) is installed on the upper chain shaft (24) by a key and a snap ring. The lower chain shaft (28) is installed in the transverse through holes at the lower ends of the two vertical beams (21) on each side by bearings. A lower chain wheel (281) is installed on the lower chain shaft (28) by a key and a snap ring. The upper chain wheel (241) and the lower chain wheel (281) are connected and driven by a secondary chain (26).

3. The wheel disassembly and assembly assisting robot for tractors and engineering vehicles according to claim 2, characterized in that: The hoisting motor (27) is mounted on the top of each side vertical beam (21) via a fixed bracket. A bevel gear reduction box (271) and a secondary reduction box (272) are also mounted on the fixed bracket. The hoisting motor (27) is connected to the secondary reduction box (272) via the bevel gear reduction box (271). The hoisting motor (27) is decelerated by the bevel gear reduction box (271) and outputs a torque rotating along a horizontal plane. The torque is then input into the secondary reduction box (272). The secondary reduction box (272) is connected to the primary chain (25) via a sprocket. The torque of the hoisting motor is transmitted to the primary chain (25) via the sprocket after secondary deceleration. 5), the two ends of the primary chain (25) are respectively connected with a driving sprocket and a driven sprocket, the driving sprocket is connected with the power output by the secondary reduction box (272), the driven sprocket is installed on the upper chain shaft (24), the power of the primary chain (25) is transmitted to the secondary chain (26) through the upper chain shaft (24), the number of teeth of the driving sprockets of the primary chain (25) and the secondary chain (26) are both smaller than the number of teeth of the driven sprocket; the number of the vertical guide rails (22) is four and two are arranged on each side, and the two vertical guide rails (22) on each side are installed in the middle of the two vertical beams (21) through the vertical connecting plate (23).

4. The wheel disassembly and assembly assisting robot for tractors and engineering vehicles according to claim 3, characterized in that: The middle beam (31) is provided with vertical holes (311) at both ends. The vertical holes (311) of the middle beam (31) are sleeved on the vertical guide rail (22) through linear bearings. The middle beam (31) is provided with lifting rings (312) at both ends. The middle beam (31) is connected to the secondary chain (26) through the lifting rings (312) at the left and right ends. The positive and negative rotation of the upper chain shaft (241) drives the middle beam (31) to move up and down. The middle beam (31) is provided with a plurality of groups of limiting holes (314). The number of the sliders (32) is two. The sliders (32) are provided with slider holes (321). The sliders (32) are sleeved on the middle beam (31). The upper ends of the two sliders (32) are provided with external ear seats (322). Two symmetrically distributed inner ear seats (313) are provided in the middle of the middle beam (31). The number of the arc plates (34) is two and the two arc plates (34) are symmetrically distributed on both sides of the driving device (4).

5. The wheel disassembly and assembly assisting robot for tractors and engineering vehicles according to claim 4, characterized in that: The ends of the arc plates (34) are provided with through holes, the through holes at the ends of the arc plates (34) are coaxially assembled with the inner ear seat (313), the driven shaft (35) is installed in the inner ear seat (313) of the middle beam (31) and the through holes at the ends of the arc plates (34) through cylindrical roller bearings, the outer side of the arc plates (34) is provided with evenly distributed position holes (341), the top end of the arc plates (34) is connected to the slider (32) through the gas spring (33), and the two ends of the gas spring (33) are rotated to The external ear seat (322) on the auxiliary connecting slider (32) and the position hole (341) on the outer side of the arc plate (34), the sliders (32) on both sides can slide longitudinally along the middle beam (31) and the sliders (32) on both sides are limited by the relative positions of the slider holes (321) and the limiting holes (314), and the top end of the gas spring (33) is installed in cooperation with the position holes (341) at different positions on the arc plate (34); the arc plate (34) is provided with roller holes (342) evenly distributed.

6. The wheel disassembly and assembly assisting robot for tractors and engineering vehicles according to claim 5, characterized in that: The roller (37) comprises an L-shaped tube (371), a radial roller (372) and a circumferential roller (373). The front and rear ends of the two driven shafts (35) are each provided with a circumferential roller (373). The circumferential roller (373) and the driven shaft (35) are interference fit. The circumferential roller (373) and the radial roller (372) are mounted on one end of the L-shaped tube (371) via a deep groove ball bearing. The L-shaped tube (371) then passes through a roller hole (342) on the arc plate (34) and is interference fit with the roller hole (342). The other end of the L-shaped tube (371) is then connected to the circumferential roller via a deep groove ball bearing. (373) is installed and connected, the circumferential rollers (373) and the radial rollers (372) are distributed in the circumferential direction of the arc plate (34) through the L-shaped tube (371); the driven shaft (35) is provided with a keyway, and a driven spur gear (352) is installed on the driven shaft (35) through a spline and a retaining ring; the driving shaft (36) is provided with a keyway, and a driving spur gear (361) is installed on the driving shaft (36) through a spline and a retaining ring, the driving spur gear (361) is meshed with the driven spur gear (352), and the other end of the driving shaft (36) is provided with an external driven gear (462) through a key and a retaining ring.

7. The wheel disassembly and assembly assisting robot for tractors and engineering vehicles according to claim 6, characterized in that: The L-plate (41) is mounted at a middle position of the middle beam (31) by means of screws; an external driving gear (461) is mounted on a driving output shaft (46) of the driving device (4); the external driving gear (461) is meshed with a driven gear (462); power of the driving output shaft (46) in the driving device (4) is transmitted to the driven shaft (35); a driving motor (43) is fixedly mounted on a side wall of the L-plate (41); an output shaft of the driving motor (43) is connected to a lower input shaft (431) by means of an external spline; a main bevel gear (432) is mounted on the lower input shaft (431) by means of a spline and a retaining ring; the main bevel gear (432) is meshed with a driven bevel gear (433).

8. The wheel disassembly and assembly assisting robot for tractors and engineering vehicles according to claim 7, characterized in that: The planetary gear train (44) comprises a sun gear (441), planetary gears (442), an outer gear ring (443) and a planet carrier (444); the sun gear (441) meshes with a planetary gear (442) mounted on the planet carrier (444); the planetary gear (442) meshes with the outer gear ring (443); the outer gear ring (443) is fixed to the outer housing (42) by screws; the output end of the planetary gear train (44) is connected to the upper main bevel gear (45) by a key and a snap ring; the output shaft (46) is mounted with an upper slave bevel gear ( 463), the upper main bevel gear (45) meshes with the left and right upper slave bevel gears (463), the output shaft (46) is mounted on the outer shell (42) through a bearing, the power input end of the planetary gear train (44) is the sun gear (441), the output end of the planetary gear train (44) is the planet carrier (444), the sun gear (441) and the slave bevel gear (433) are coaxially mounted together, the bottom end of the slave bevel gear (433) is rotatably mounted on the wall surface of the L plate (41) through a rotating shaft and a bearing, and the sun gear (441) and the slave bevel gear (433) have the same rotation speed.

9. The wheel-assisted disassembly and assembly robot for tractors and engineering vehicles according to claim 8, characterized in that: The power of the driving motor (43) is transmitted to the sun gear (441) through the meshing of the main bevel gear (432) and the slave bevel gear (433). The rotation speed of the driving motor (43) is reduced by the planetary gear train (44) and then transmitted to the upper main bevel gear (45). The upper main bevel gear (45) is meshed with the upper slave bevel gear (463) and then transmitted to the driving output shaft (46). The external driving gear (461) on the driving output shaft (46) is meshed with the external driven gear (462) and then transmitted to the driving direct drive gear (461). On the gear (361), the external driving gear (461) and the external driven gear (462) are both bevel gears. The driving spur gear (361) and the external driven gear (462) are coaxially mounted and have the same rotational speed. The driven spur gear (352) is mounted on the driven shaft (35). The driving spur gear (361) and the driven spur gear (352) are meshed to transmit power on the drive output shaft (46) to the driven shaft (35). The number of teeth of the driving spur gear (361) is smaller than that of the driven spur gear (352).

10. The wheel disassembly and assembly assisting robot for tractors and engineering vehicles according to claim 1, characterized in that: The McRae wheel (11) is connected to the U-shaped frame (12) via a bearing and a shaft, and the U-shaped frame (12) is installed and connected to the crossbeam (13) and the longitudinal beam (14) via bolts.

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