A fully automatic robot for scraping tire rubber burrs

Abstract

The present invention provides a fully automatic robot for scraping rubber burrs on tires, belonging to the field of tire processing machinery. The fully automatic robot for scraping rubber burrs on tires comprises a frame mechanism, a tire positioning mechanism, a moving adjustment mechanism and a rubber edge cutter robot arm. The guardrail rollers are symmetrically arranged at the same horizontal position on both sides of the frame mechanism and at the same horizontal position in front and back. A sidewall scraper is fixed to the front end of the second cylinder; the sliding machine cutter head can be attached to the rotating tire surface, and the fully automatic robot can scrape off the excess rubber burrs and rubber edges on the tread with the arc displacement angle of the tire; the shaft roller mechanism is installed at the lower part of the frame mechanism, and the tire pressing roller mechanism is installed at the upper part of the frame mechanism; when the tire rotates on the two rotating rollers, the tire is not balanced, and there are problems of shaking, jumping and swinging, which eliminates the problem that the angle of the manually operated tool is difficult to keep balanced with the tread, which is easy to damage the tread and cause safety hazards.

Description

Technical Field

[0001] The invention relates to the field of tire processing machinery, in particular to a fully automatic robot for scraping tire rubber burrs. Background Art

[0002] At present, with the increasing number of cars in use year by year, the demand for tires is increasing rapidly. However, after the current car tires are produced, many needle-shaped and edge-strip-shaped burrs will remain on the sidewalls of the tires, which seriously affects the appearance of the tires and cannot meet customer needs.

[0003] During the production process of existing tires, due to the influence of processing molds, excess rubber hair and rubber edges are left on the tire surface. According to the quality standards of tires, the rubber hair and rubber edges must be removed. Currently, most tire manufacturers use manual handheld tools to remove the rubber edges. Summary of the invention

[0004] In order to make up for the above shortcomings, the present invention provides a fully automatic robot for scraping tire rubber burrs, aiming to improve the problem that most existing tire manufacturers use manual handheld tools to remove rubber burrs, resulting in low production efficiency.

[0005] The present invention is achieved in that:

[0006] The invention provides a fully automatic manipulator for scraping rubber burrs of tires, comprising a frame mechanism, a tire positioning mechanism, a moving adjustment mechanism and a rubber edge cutter mechanical arm.

[0007] Guardrail rollers are installed in the frame mechanism, and four guardrail rollers are provided. The guardrail rollers are symmetrically arranged at the same horizontal position on both sides of the frame mechanism and at the same horizontal position in front and behind.

[0008] The tire positioning mechanism comprises a shaft wheel roller mechanism and a tire pressing roller mechanism, wherein the shaft wheel roller mechanism is installed at the lower part of the frame mechanism, and the tire pressing roller mechanism is installed at the upper part of the frame mechanism.

[0009] The movable adjustment mechanism includes a lifting frame mechanism, a transverse sliding platform and an upper and lower sliding platform. The transverse sliding platform is fixed on the upper part of the lifting frame mechanism, and the upper and lower sliding platforms are fixed on the side of the lifting frame mechanism and are located at the same horizontal position, on the same side and symmetrically arranged; the transverse sliding platform is vertically fixed with a first cylinder of a crown robot arm, a crown scraper is fixed at the front end of the first cylinder, and the upper and lower sliding platforms are slidably connected with a second cylinder of a sidewall robot arm, a sidewall scraper is fixed at the front end of the second cylinder.

[0010] The rubber edge knife mechanical arm includes a third cylinder and a rubber edge scraper. The third cylinder is located on the upper part of the shaft roller mechanism. The rubber edge scraper is installed at the front end of the third cylinder. The rubber edge scraper is arranged on the same side of the frame mechanism and is symmetrically arranged.

[0011] In one embodiment of the present invention, the guardrail roller includes a guardrail frame and a roller. The first cylinder symmetrically installed on both sides of the frame mechanism is connected to the guardrail frame. Linear slide rails are provided at the upper and lower ends of the frame mechanism. The guardrail frame is installed at the movable end of the linear slide rail. The roller is installed at the upper end of the guardrail frame. The roller has a diameter of 60 mm.

[0012] In one embodiment of the present invention, the shaft roller mechanism includes a flat load-bearing roller and a concave active roller, and the flat load-bearing roller and the concave active roller are both located at the same horizontal position in the frame mechanism, with the flat load-bearing roller at the rear and the concave active roller at the front. The frame mechanism is equipped with a cylinder push rod, and the push rod connected to the movable end of the cylinder push rod is connected to the dovetail groove sliding plate under the bearing seat of the shaft roller mechanism.

[0013] In one embodiment of the present invention, a conveying line in the tire input direction and a conveying line in the tire output direction are respectively arranged on both sides of the frame mechanism, and the conveying line in the tire input direction and the conveying line in the tire output direction are at the same level.

[0014] In one embodiment of the present invention, a drive motor is fixedly installed at the bottom of the frame mechanism, and the drive shaft of the drive motor is transmission-connected to the concave active roller; a vacuum suction fan is provided at the bottom of the frame mechanism to suck the scraped tire rubber hair into a collection container through a suction tube; a water spray device is installed to spray water on the trimming head of each machine knife to cool the knife head.

[0015] In one embodiment of the present invention, the tire beating roller mechanism includes a concave roller and a cylinder guide rod, the cylinder guide rod is installed on the upper part of the frame mechanism, the concave roller is installed on the movable end of the lower part of the cylinder guide rod, and the tire beating roller mechanism is arranged behind the lifting frame mechanism.

[0016] In one embodiment of the present invention, the lower end of the cylinder guide rod is connected to a tire beating roller frame, guide slide rails are provided on both sides of the tire beating roller frame, the guide slide rails are fixedly connected to the frame mechanism, and the concave roller is installed at the lower end of the tire beating roller frame.

[0017] In one embodiment of the present invention, the lifting frame mechanism includes a lifting screw and a first servo motor, the lifting screw is screwed to the top of the frame mechanism, the first servo motor is fixed to the top of the frame mechanism, and the drive shaft of the first servo motor is fixedly connected to the lifting screw via a coupling.

[0018] In one embodiment of the present invention, the crown scraper includes a crown machine knife frame and a machine knife, and the machine knife is fixedly installed on the crown machine knife frame. The sidewall scraper includes a sidewall machine knife frame and a machine knife, and the machine knife is fixedly installed on the sidewall machine knife frame. The rubber edge scraper includes a rubber edge knife frame and a machine knife, and the machine knife is fixed on the rubber edge knife frame.

[0019] In one embodiment of the present invention, it also includes a tire pushing mechanism, which includes a pushing roller and a fourth cylinder, the pushing roller is installed at the movable end of the fourth cylinder, the pushing roller is located at the lower part of the shaft roller mechanism, the pushing roller is installed at the upper end of the bracket at the bottom of the frame mechanism, and the fourth cylinder is connected to the lower end of the bracket.

[0020] The beneficial effects of the present invention are as follows: the fully automatic mechanical arm for scraping tire rubber burrs obtained by the present invention through the above design:

[0021] 1. Horizontal sliding table and upper and lower sliding table. The horizontal sliding table is fixed on the upper part of the lifting frame mechanism, and the upper and lower sliding tables are fixed on the side of the lifting frame mechanism. They are located at the same horizontal position, on the same side and symmetrically arranged. The horizontal sliding table is vertically fixed with the first cylinder of the crown mechanical arm, and the front end of the first cylinder is fixed with a crown scraper. The upper and lower sliding tables are slidably connected with the second cylinder of the tire side mechanical arm, and the front end of the second cylinder is fixed with a tire side scraper. It completely replaces the many disadvantages of intermittent manual scraping with a knife, which not only improves production efficiency, but also avoids the safety hazards of manual operation, solves the problem of tread damage, and greatly improves the appearance quality of the tire.

[0022] 2. The sliding cutter head can be attached to the rotating tire surface, and the fully automatic manipulator can scrape off the excess rubber hair and rubber edge on the tread as the tire changes its arc angle; the shaft roller mechanism is installed at the lower part of the frame mechanism, and the tire pressing roller mechanism is installed at the upper part of the frame mechanism; when the tire rotates on the two rotating rollers, the tire is not balanced, and there are problems such as shaking, jumping and swinging, which eliminates the problem of manual operation. The angle of the cutter is difficult to keep balanced with the tread, which is easy to damage the tread and cause safety hazards;

[0023] 3. The rubber edge knife mechanical arm includes a third cylinder and a rubber edge scraper. The third cylinder is located on the upper part of the shaft roller mechanism. The rubber edge scraper is installed at the front end of the third cylinder. The rubber edge scraper is arranged on the same side of the frame mechanism and is symmetrically arranged. By utilizing the inertia principle generated when the tire rotates at linear speed on the roller, the machine knife slides on the tread to scrape off the excess rubber hair and rubber edge of the tread. Under the clamping of the roller and the pressure roller, the rotation and jumping of the tire will be reduced, and there is no human intervention in this process; the labor intensity of manual operation is reduced, continuous production can be achieved, and efficiency is improved. When scraping the rubber edge, the risk of scratching the tire is greatly reduced, the consistency of tire trimming is guaranteed, and the appearance quality is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the main structure provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of a side view structure provided for an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of a three-dimensional structure provided for an embodiment of the present invention;

[0028] Figure 4 The embodiments of the present invention provide Figure 3 Schematic diagram of the structure at point A in the middle.

[0029] In the figure: 100, frame mechanism; 110, guardrail roller; 111, guardrail frame; 113, roller; 130, conveyor line in the tire inlet direction; 150, conveyor line in the tire outlet direction; 170, drive motor; 300, tire positioning mechanism; 310, shaft roller mechanism; 311, flat load-bearing roller; 313, concave active roller; 330, tire pressing roller mechanism; 500, moving adjustment mechanism; 510, lifting frame mechanism; 511, lifting screw; 530, horizontal sliding platform; 531, crown scraper; 550, upper and lower sliding platforms; 551, sidewall scraper; 700, rubber edge knife mechanical arm; 710, third cylinder; 730, rubber edge scraper; 900, tire pushing mechanism; 910, pushing roller; 930, fourth cylinder. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. Example

[0037] See also Figure 1-4 The present invention provides a technical solution: a fully automatic robot for scraping tire rubber burrs, including a frame mechanism 100, a tire positioning mechanism 300, a moving adjustment mechanism 500 and a rubber edge knife robot arm 700.

[0038] Among them, the tire positioning mechanism 300, the movable adjustment mechanism 500 and the rubber edge knife mechanical arm 700 are all fixedly installed in the frame mechanism 100. The tire positioning mechanism 300 clamps and positions the tire, and processes the tire surface through the movable adjustment mechanism 500 and the rubber edge knife mechanical arm 700, thereby reducing manpower consumption and improving work efficiency.

[0039] See also Figure 1 The frame mechanism 100 is provided with a guardrail roller 110, and four guardrail rollers 110 are provided. The guardrail rollers 110 are symmetrically arranged at the same level on both sides of the frame mechanism 100 and at the same level in front and back;

[0040] In this embodiment, the guardrail roller 110 includes a guardrail frame 111 and a roller 113. The first cylinder symmetrically installed on both sides of the frame mechanism 100 is connected to the guardrail frame 111. The upper and lower ends of the frame mechanism 100 are provided with linear slide rails. The guardrail frame 111 is installed at the movable end of the linear slide rail. The roller 113 is installed at the upper end of the guardrail frame 111. The roller 113 has a diameter of 60 mm to prevent the tire from tilting and can automatically expand and shrink the distance between the left and right guardrail rollers 110 according to the width of the tire.

[0041] In some embodiments, a conveying line 130 in the tire entry direction and a conveying line 150 in the tire exit direction are respectively provided on both sides of the frame mechanism 100, and the conveying line 130 in the tire entry direction and the conveying line 150 in the tire exit direction are at the same level.

[0042] See also Figure 1-3The tire positioning mechanism 300 includes a shaft roller mechanism 310 and a tire pressing roller mechanism 330, wherein the shaft roller mechanism 310 is mounted at the lower part of the frame mechanism 100, and the tire pressing roller mechanism 330 is mounted at the upper part of the frame mechanism 100;

[0043] In an embodiment, the shaft roller mechanism 310 includes a flat load-bearing roller 311 and a concave active roller 313, and the flat load-bearing roller 311 and the concave active roller 313 are both located at the same horizontal position in the frame mechanism 100, with the flat load-bearing roller 311 at the rear and the concave active roller 313 at the front. The frame mechanism 100 is installed with a cylinder push rod, and the push rod connected to the movable end of the cylinder push rod is connected to the dovetail groove sliding plate under the bearing seat of the shaft roller mechanism 310, so that the roller axis center distance of the shaft roller mechanism 310 can be expanded or contracted with the tire diameter.

[0044] In some embodiments, a driving motor 170 is fixedly installed at the bottom of the frame mechanism 100, and the driving shaft of the driving motor 170 is transmission-connected to the concave active roller 313, wherein the driving shaft of the driving motor 170 is keyed to a driving pulley, a driven pulley is coaxially fixed to one end of the concave active roller 313, and the driving pulley and the driven pulley are connected via a V-belt transmission; a vacuum suction fan is provided at the bottom of the frame mechanism 100, which sucks the scraped tire rubber hair into a collection container through a suction tube; a water spray device is installed to spray water on the trimming heads of each machine knife to cool the knife heads.

[0045] It should be noted that the tire beating roller mechanism 330 includes a concave roller and a cylinder guide rod, the cylinder guide rod is installed on the upper part of the frame mechanism 100, and the concave roller is installed on the movable end of the lower part of the cylinder guide rod. The tire beating roller mechanism 330 is arranged behind the lifting frame mechanism 510.

[0046] In a specific implementation, the lower end of the cylinder guide rod is connected to a tire beating roller frame, guide rails are provided on both sides of the tire beating roller frame, the guide rails are fixedly connected to the frame mechanism 100, and the concave roller is installed at the lower end of the tire beating roller frame.

[0047] See also Figure 1-4The mobile adjustment mechanism 500 includes a lifting frame mechanism 510, a transverse sliding platform 530 and an upper and lower sliding platform 550. The transverse sliding platform 530 is fixed to the upper part of the lifting frame mechanism 510, and the upper and lower sliding platforms 550 are fixed to the side of the lifting frame mechanism 510 and are located at the same horizontal position, the same side and symmetrically arranged; the transverse sliding platform 530 is vertically fixed with a first cylinder of a crown robot arm, and a crown scraper 531 is fixed at the front end of the first cylinder; the upper and lower sliding platforms 550 are slidably connected with a second cylinder of a sidewall robot arm, and a sidewall scraper 551 is fixed at the front end of the second cylinder;

[0048] In this embodiment, the lifting frame mechanism 510 includes a lifting screw 511 and a first servo motor. The lifting screw 511 is screwed to the top of the frame mechanism 100. The first servo motor is fixed to the top of the frame mechanism 100. The driving shaft of the first servo motor is fixedly connected to the lifting screw 511 via a coupling.

[0049] In some embodiments, the crown scraper 531 includes a crown tool holder and a tool, and the tool is fixedly mounted on the crown tool holder. The sidewall scraper 551 includes a sidewall tool holder and a tool, and the tool is fixedly mounted on the sidewall tool holder. The rubber edge scraper 730 includes a rubber edge tool holder and a tool, and the tool is fixed on the rubber edge tool holder.

[0050] See also Figure 3-4 The glue edge knife robot arm 700 includes a third cylinder 710 and a glue edge scraper 730. The third cylinder 710 is located on the upper part of the shaft roller mechanism 310. The glue edge scraper 730 is installed at the front end of the third cylinder 710. The glue edge scraper 730 is arranged on the same side of the frame mechanism 100 and is symmetrically arranged.

[0051] In this embodiment, a tire pushing mechanism 900 is also included, and the tire pushing mechanism 900 includes a pushing roller 910 and a fourth cylinder 930. The pushing roller 910 is installed at the movable end of the fourth cylinder 930, and the pushing roller 910 is located at the lower part of the shaft roller mechanism 310. The pushing roller 910 is installed at the upper end of the bracket at the bottom of the frame mechanism 100, and the fourth cylinder 930 is connected to the lower end of the bracket.

[0052] In order to adapt to a wide variety of tire specifications, a measuring grating is used. Under the control of a pre-set logic programming program, the recognition system measures or recognizes the tire shape in a scanning manner. The program is pre-set and automatically controlled by the PLC program. Under the precise control of the photoelectric sensors and control systems of each detection and monitoring system, the actuators and each mechanical arm complete the predetermined actions and cooperate with the controller to monitor and measure the size of the tire body shape. After the tire shape is collected, each mechanism and the mechanical arm perform the borderless scraping of the tire surface rubber, realizing a continuous action to scrape off the tread rubber hair and rubber edge.

[0053] The fully automatic robot for scraping tire rubber edges is connected between the tire conveyor lines, so that the tires can automatically enter the trimming station, be automatically trimmed and automatically conveyed, and there is no manual intervention in the entire trimming process. The trimming time for a single semi-steel car tire is within 20 seconds, the trimming time for a full-steel truck tire is within 30 seconds, the trimming time for an aviation tire is within 30 seconds, and the trimming time for an engineering vehicle tire is within 50 seconds. The high-efficiency production capacity solves the drawbacks of the original manual scraping of rubber edges with a knife and improves the appearance quality of the tire, that is, the rubber burrs on the tire surface after scraping are uniform, and the scraping rate of rubber burrs reaches 98% without damaging the tread. It avoids safety hazards during manual operation and improves production efficiency.

[0054] Each manipulator is made of steel with a diameter of 32 mm and is equipped with a precision pressure regulating valve to adjust the thrust.

[0055] In order to reduce production costs, the cutter head fixed on the front tool holder of the robot is made of tungsten-cobalt alloy, which is durable enough to effectively trim 100,000 tires.

[0056] Rollers are installed on the side and rear end of the pruning head to limit the friction between the blade and the tire surface to ensure that the tire is not scratched.

[0057] The above-mentioned implementation cases are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the concept and protection scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary engineering technicians in this field should fall within the protection scope of the present invention.

[0058] The working principle of the fully automatic robot for scraping tire rubber burrs is as follows: when in use, the horizontal sliding table 530 and the upper and lower sliding tables 550, the horizontal sliding table 530 is fixed on the upper part of the lifting frame mechanism 510, and the upper and lower sliding tables 550 are fixed on the side of the lifting frame mechanism 510, and are located at the same horizontal position, the same side and symmetrically arranged; the horizontal sliding table 530 is vertically fixed with the first cylinder of the crown robot arm, and the front end of the first cylinder is fixed with the crown scraper 531, and the upper and lower sliding tables 550 are slidably connected with the second cylinder of the sidewall robot arm, and the front end of the second cylinder is fixed with the sidewall scraper 551; it completely replaces the many disadvantages of intermittent manual scraping with a knife, which not only improves production efficiency, but also avoids the safety hazards of manual operation, and solves the problem of damaging the tread, greatly improving the appearance quality of the tire. The fully automatic robot arm 700 can be attached to the sliding machine cutter head on the rotating tire surface, change its position angle with the arc of the tire, and go over the concave and convex and grooved tread patterns to scrape off the excess rubber hair and rubber edges on the tread; the shaft roller mechanism 310 is installed at the lower part of the frame mechanism 100, and the tire pressing roller mechanism 330 is installed at the upper part of the frame mechanism 100; when the tire rotates on the two rotating rollers, the tire is not balanced, and there are problems of shaking, jumping and swinging, which eliminates the problem that the angle of the manual operation tool is difficult to keep balanced with the tread, which is easy to damage the tread and cause safety hazards; the rubber edge knife robot arm 700 includes a third cylinder 710 and a rubber edge scraper 730, and the third The cylinder 710 is located on the upper part of the shaft roller mechanism 310, and the rubber edge scraper 730 is installed at the front end of the third cylinder 710. The rubber edge scraper 730 is arranged on the same side of the frame mechanism 100 and is symmetrically arranged. By utilizing the inertia principle generated when the tire rotates at linear speed on the roller, the machine knife slides on the tread to scrape off the excess rubber hair and rubber edges on the tread. Under the clamping of the roller and the pressure roller, the rotation and jumping of the tire will be reduced, and there is no human intervention in this process; the labor intensity of manual operation is reduced, continuous production can be achieved, and efficiency is improved. When scraping the rubber edges, the risk of scratching the tire is greatly reduced, the consistency of tire trimming is ensured, and the appearance quality is improved.

[0059] It should be noted that the specific models and specifications of the servo motor, drive motor 170, first cylinder, second cylinder, third cylinder 710 and fourth cylinder 930 need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be described in detail.

[0060] The power supply and principle of the servo motor and the drive motor 170 are clear to those skilled in the art and will not be described in detail here.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fully automatic robot for scraping tire rubber burrs, characterized in that: include A frame mechanism (100), wherein guardrail rollers (110) are installed in the frame mechanism (100), four guardrail rollers (110) are provided, and the guardrail rollers (110) are symmetrically arranged at the same horizontal position on both sides of the frame mechanism (100) and at the same horizontal position in front and behind; A tire positioning mechanism (300), the tire positioning mechanism (300) comprising a shaft wheel roller mechanism (310) and a tire pressing roller mechanism (330), the shaft wheel roller mechanism (310) being mounted on the lower part of the frame mechanism (100), and the tire pressing roller mechanism (330) being mounted on the upper part of the frame mechanism (100); A movable adjustment mechanism (500), the movable adjustment mechanism (500) comprising a lifting frame mechanism (510), a transverse sliding platform (530) and an upper and lower sliding platform (550), the transverse sliding platform (530) being fixed to the upper part of the lifting frame mechanism (510), the upper and lower sliding platforms (550) being fixed to the side of the lifting frame mechanism (510), and being located at the same horizontal position, on the same side and symmetrically arranged; the transverse sliding platform (530) being vertically fixed with a first cylinder of a tire crown mechanical arm, a tire crown scraper (531) being fixed at the front end of the first cylinder, the upper and lower sliding platform (550) being slidably connected with a second cylinder of a tire side mechanical arm, a tire side scraper (551) being fixed at the front end of the second cylinder; A rubber edge cutter mechanical arm (700), the rubber edge cutter mechanical arm (700) comprising a third cylinder (710) and a rubber edge scraper (730), the third cylinder (710) being located on the upper portion of the shaft roller mechanism (310), the rubber edge scraper (730) being installed at the front end of the third cylinder (710), and the rubber edge scraper (730) being arranged on the same side of the frame mechanism (100) and being symmetrically arranged; The shaft roller mechanism (310) comprises a flat load-bearing roller (311) and a concave active roller (313), the flat load-bearing roller (311) and the concave active roller (313) being both located at the same horizontal position in the frame mechanism (100), the flat load-bearing roller (311) being arranged at the rear and the concave active roller (313) being arranged at the front, the frame mechanism (100) being provided with a cylinder push rod, the push rod connected to the movable end of the cylinder push rod being connected to a dovetail groove sliding plate under a bearing seat of the shaft roller mechanism (310); The tire beating roller mechanism (330) comprises a concave roller and a cylinder guide rod, the cylinder guide rod is mounted on the upper part of the frame mechanism (100), the concave roller is mounted on the movable end of the lower part of the cylinder guide rod, and the tire beating roller mechanism (330) is arranged behind the lifting frame mechanism (510).

2. The fully automatic robot for scraping tire rubber burrs according to claim 1 is characterized in that: The guardrail roller (110) comprises a guardrail frame (111) and a roller (113); first cylinders symmetrically mounted on both sides of the frame mechanism (100) are connected to the guardrail frame (111); linear slide rails are provided at the upper and lower ends of the frame mechanism (100); the guardrail frame (111) is mounted on the movable end of the linear slide rail; the roller (113) is mounted on the upper end of the guardrail frame (111); and the roller (113) has a diameter of 60 mm.

3. The fully automatic robot for scraping tire rubber burrs according to claim 1 is characterized in that: A conveying line (130) in a tire inlet direction and a conveying line (150) in a tire outlet direction are respectively arranged on both sides of the frame mechanism (100), and the conveying line (130) in the tire inlet direction and the conveying line (150) in the tire outlet direction are at the same horizontal position.

4. The fully automatic robot for scraping tire rubber burrs according to claim 1 is characterized in that: A driving motor (170) is fixedly mounted at the bottom of the frame mechanism (100), and a driving shaft of the driving motor (170) is drivingly connected to the concave active roller (313); a vacuum suction fan is provided at the bottom of the frame mechanism (100), and the scraped tire rubber hair is sucked into a collection container through a suction pipe; a water spraying device is installed, and water is sprayed to the trimming heads of each machine knife to cool the knife heads.

5. The fully automatic robot for scraping tire rubber burrs according to claim 1 is characterized in that: The lower end of the cylinder guide rod is connected to a tyre beating roller frame, guide slide rails are arranged on both sides of the tyre beating roller frame, the guide slide rails are fixedly connected to the frame mechanism (100), and the concave roller is mounted on the lower end of the tyre beating roller frame.

6. The fully automatic robot for scraping tire rubber burrs according to claim 1 is characterized in that: The lifting frame mechanism (510) comprises a lifting screw (511) and a first servo motor; the lifting screw (511) is screwed to the top of the frame mechanism (100); the first servo motor is fixed to the top of the frame mechanism (100); and a drive shaft of the first servo motor is fixedly connected to the lifting screw (511) via a coupling.

7. The fully automatic robot for scraping tire rubber burrs according to claim 1 is characterized in that: The crown scraper (531) comprises a crown knife frame and a knife, wherein the knife is fixedly mounted on the crown knife frame. The sidewall scraper (551) comprises a sidewall knife frame and a knife, wherein the knife is fixedly mounted on the sidewall knife frame. The rubber edge scraper (730) comprises a rubber edge knife frame and a knife, wherein the knife is fixedly mounted on the rubber edge knife frame.

8. According to claim 1, a fully automatic robot for scraping tire rubber burrs further includes a tire pushing mechanism (900), the tire pushing mechanism (900) includes a pushing roller (910) and a fourth cylinder (930), the pushing roller (910) is installed at the movable end of the fourth cylinder (930), the pushing roller (910) is located at the lower part of the shaft roller mechanism (310), the pushing roller (910) is installed at the upper end of the bracket at the bottom of the frame mechanism (100), and the fourth cylinder (930) is connected to the lower end of the bracket.

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