Robotic arm for automobile tire installation detection and use method thereof

Abstract

The present invention relates to the field of automobile processing technology, and in particular to a mechanical arm for automobile tire installation detection and a method for using the same, comprising a base, a movable arm mounted on the top of the base, a claw plate fixedly connected to the other end of the movable arm, a rotation groove provided on the side of the claw plate away from the movable arm, an inner gear ring embedded in the rotation groove and rotatably connected, an outer rod fixedly connected to the outer side of the inner gear ring, a lifting pump fixedly connected to one side of the outer rod, a lifting frame mounted on the output end of the lifting pump, the lifting frame penetrates and slides with the outer rod, and a detection arc plate is mounted on one end of the lifting frame penetrating the outer rod. The mechanical arm for automobile tire installation detection and a method for using the same, by providing a grabbing rod, the grabbing rod can be inserted into the central axis hole of the automobile tire, and then blocked by a baffle on the surface of the grabbing rod, all the tires used for a car can be grabbed at the same time, and then installed on the car, and during the installation of the tire, there is no need for the mechanical arm to repeatedly grab and wait, thereby improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of automobile processing, in particular to a mechanical arm for automobile tire installation detection and a use method thereof. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and other fields. Although they have different forms, they all have one common feature, which is the ability to receive instructions and accurately locate a point in three-dimensional space to perform operations. With the continuous development of the automobile industry, the automobile assembly process has gradually become automated, so the robotic arm plays a more important role in the automobile assembly process. Automation tools.

[0003] At present, when installing automobile tires, they are generally grasped by a robotic arm, and then aligned with the car's drive shaft and inserted into the tire hole, and then the fixing bolts are manually installed to achieve the installation of the automobile tire. However, in order to meet production efficiency, ordinary grasping and clamping robotic arms can only grasp one tire at a time for installation, and the robotic arm needs to move and grasp repeatedly. Not only is the working efficiency of the robotic arm low, but the repeated and large-scale robotic arm activities can also easily reduce the service life of the robotic arm's moving parts. Summary of the invention

[0004] The object of the present invention is to provide a mechanical arm for automobile tire installation detection and a method of using the same, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a mechanical arm for automobile tire installation detection, comprising a base, a movable arm is installed on the top of the base, a claw plate is fixedly connected to the other end of the movable arm, a rotation groove is opened on the side of the claw plate away from the movable arm, an inner gear ring is embedded in the rotation groove and rotatably connected, an outer rod is fixedly connected to the outer side of the inner gear ring, a lifting pump is fixedly connected to one side of the outer rod, a lifting frame is installed on the output end of the lifting pump, the lifting frame penetrates and is slidably connected to the outer rod, and a detection arc plate is installed on one end of the lifting frame that penetrates the outer rod;

[0006] The claw plate is fixedly connected to a grab rod at the center position of a circle on one side of the rotating groove, and a moving opening is opened through the arc surface of the grab rod, and a push plate is sleeved and slidably installed on the outer side of the grab rod, and a sliding plate is fixedly connected to the inner arc wall of the push plate near the moving opening, and the sliding plate is adapted and slidably connected to the moving opening, and a threaded rod is rotatably connected inside the moving opening, and the threaded rod penetrates and is threadedly connected to the sliding plate;

[0007] A No. 2 motor is installed inside the grabbing rod near one end of the claw plate, and an electromagnetic lock sleeve is slidably connected to the output end of the No. 2 motor. A limit spline is fixedly connected to the side of the threaded rod opposite to the electromagnetic lock sleeve, and a spline groove is provided on the side of the electromagnetic lock sleeve opposite to the limit spline, and the limit spline is adapted to be plugged into the spline groove;

[0008] The grab rod is provided with movable grooves inside near both sides of the moving opening, and a telescopic opening is penetrated through the outer arc wall of the grab rod. The telescopic opening is communicated with the movable grooves, and a baffle is adapted and slidably connected inside the telescopic opening.

[0009] In a further embodiment, the inner arc of the inner gear ring is meshed with a gear, and the gear is rotatably connected to the inside of the claw plate. The outer wall of the claw plate close to the movable arm and relative to the center of the gear is bolted to a No. 1 motor, and the output end of the No. 1 motor passes through the side wall of the claw plate and is fixedly connected to the gear.

[0010] In a further embodiment, the baffle is fixedly connected to a limit plate on one side of the inner groove of the movable groove close to the side of the limit plate away from the baffle, a magnetic strip is fixedly connected to the inner groove wall of the movable groove opposite to the magnetic strip, an electromagnetic block is fixedly connected to the inner groove of the movable groove relative to the magnetic strip, an isolation plate is movably provided in the inner groove of the movable groove, a rope groove is opened inside the grabbing rod close to the moving mouth and the movable groove, the output end of the No. 2 motor is electromagnetically connected to a winding disk, a pull rope is wound around the winding disk, and the pull rope is movably arranged in the rope groove.

[0011] In a further embodiment, a movable plate is fixedly connected to one side of the isolation plate close to the rope groove, the grabbing rod is close to the movable groove and the rope groove and has a through groove relative to the movable plate, the movable plate penetrates the through groove and is adapted to be slidably connected, a telescopic plate is embedded in and slidably connected to one end of the movable plate close to the rope groove, and a stop block is fixedly connected to one end of the pull rope away from the winding drum, and the stop block is adapted to and slidably connected to the inner groove of the rope groove.

[0012] In a further embodiment, a No. 1 spring is fixedly connected between the side of the stop block away from the pull rope and the inner groove wall of the rope groove, and a No. 2 spring is fixedly connected between the side of the telescopic plate close to the inner groove of the movable plate and the inner groove wall opposite thereto.

[0013] In a further embodiment, slots are provided in the inner grooves at both ends of the through groove, and the positions of the two sides of the movable plate relative to the slots are fixedly connected to the plug boards.

[0014] In a further embodiment, a sliding rod No. 1 is fixedly connected between the two ends of the inner groove of the through groove, and the sliding rod No. 1 penetrates the movable plate and is slidably connected.

[0015] In a further embodiment, both sides of the telescopic plate at one end close to the inner groove of the rope groove are arranged in an arc shape, and the edge position of one side of the stop block relative to the telescopic plate is arranged in an arc shape.

[0016] In a further embodiment, the limit plate passes through and is slidably connected to a No. 2 slide bar, the No. 2 slide bar is fixedly connected between the inner groove walls of the movable groove, the limit plate is fixedly connected to a No. 3 spring at a position away from the side of the magnetic strip and close to the outer side of the No. 2 slide bar, and the other end of the No. 3 spring is fixedly connected to the inner groove wall relative to the movable groove.

[0017] A method for using a mechanical arm for automobile tire installation detection, the specific method of use is:

[0018] S1. The device is installed to the automobile tire installation process position through the base. When the tire is installed, the movable arm moves in multiple directions and angles to grab the automobile tire. The automobile tires are stacked in advance, and then the grabbing rod is inserted into the axial hole of the tire. After the grabbing rod is fully inserted into the axial hole of the stacked tire, the baffle of the grabbing rod guard arm pops out from the telescopic opening to limit the tire. At this time, the movable arm moves, driving the claw plate and the grabbing rod to move, and the tire can be moved to the tire installation position of the automobile;

[0019] S2. Then the electromagnetic lock sleeve at the output end of the second motor is energized to generate magnetism, and then the electromagnetic lock sleeve moves outside the output end of the second motor in the direction of the limit spline, and then the spline groove is aligned with the limit spline and plugged in. At this time, the second motor is started, and the threaded rod is driven to rotate through the limit spline and the electromagnetic lock sleeve;

[0020] S3. The rotation of the threaded rod drives the sliding plate to move in the moving opening, and the moving direction is the direction away from the claw plate. At this time, the push plate can push the tire from the outside of the grab rod to the end. During the process, the baffle will be recovered into the telescopic opening to release the limit on the tire. After a tire is pushed out, the electromagnetic locking sleeve is powered off and separated from the limit spline. At this time, the baffle can be extended from the telescopic opening again to continue to limit the remaining tires. Then, after completing the above process, all tires can be installed.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides a grabbing rod, which can be inserted into the central axis hole of the automobile tire and then blocked by the baffle plate on the surface of the grabbing rod, so that all tires used for a car can be grabbed at the same time and then installed on the car. During the tire installation process, there is no need for the mechanical arm to repeatedly grab and wait, so that the work efficiency is improved.

[0023] The present invention can quickly grab the required tire of the car through the grabbing rod and then install it. During the process, the mechanical arm does not need to be repeatedly moved and grabbed, thereby reducing the active wear of the mechanical arm, improving the efficiency of installation and processing, and also reducing the loss of the mechanical arm, increasing the service life of the mechanical arm, thereby extending the time for maintenance and replacement of mechanical arm parts, thereby reducing the use cost of the mechanical arm;

[0024] The present invention is provided with a movable detection arc plate on the outer side of the grabbing rod, which can detect data such as damage, integrity and tire pressure on the surface of the automobile tire, and can simultaneously perform detection during installation, thereby being able to timely reflect whether the automobile tire is qualified, thereby ensuring the quality of automobile production. No manual or separate detection is required during the process, which can improve processing efficiency and reduce the difficulty of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front perspective structural diagram of the robot arm of the present invention;

[0026] Figure 2 It is a schematic diagram of the side three-dimensional structure of the mechanical arm of the present invention;

[0027] Figure 3 It is a three-dimensional schematic diagram of the cross-sectional structure of the claw plate of the present invention;

[0028] Figure 4 It is a schematic structural perspective view of the inner gear ring and the gear of the present invention;

[0029] Figure 5 It is a three-dimensional schematic diagram of the grabbing rod and the pushing plate structure of the present invention;

[0030] Figure 6 A is a schematic diagram of a cutaway structure of a grabbing rod and a push plate of the present invention;

[0031] Figure 7 A schematic diagram of a three-dimensional structure B of a grabbing rod and a push plate of the present invention;

[0032] Figure 8 It is a three-dimensional schematic diagram of the structure of the connection between the second motor and the threaded rod of the present invention;

[0033] Fig. 9 For the present invention Figure 6 A schematic diagram of the enlarged structure at point A;

[0034] Fig.10 For the present invention Figure 6 A schematic diagram of the enlarged structure at B;

[0035] Fig.11 It is a three-dimensional schematic diagram of the cross-sectional structure of the isolation plate and the movable plate of the present invention.

[0036] In the figure: 1, base; 2, movable arm; 3, claw plate; 4, rotating groove; 5, inner gear ring; 6, outer rod; 7, lifting pump; 8, lifting frame; 9, detection arc plate; 10, grab rod; 11, moving mouth; 12, push plate; 13, sliding plate; 14, movable groove; 15, telescopic mouth; 16, baffle; 17, threaded rod; 18, gear; 19, No. 1 motor; 20, No. 2 motor; 21, electromagnetic lock sleeve; 2 2. Limit spline; 23. Spline groove; 24. Limit plate; 25. Magnetic strip; 26. Electromagnetic block; 27. Isolation plate; 28. Moving plate; 29. ​​Rope groove; 30. Through groove; 31. Winding reel; 32. Pull rope; 33. Block; 34. No. 1 spring; 35. Telescopic plate; 36. No. 2 spring; 37. Insert plate; 38. Slot; 39. No. 1 slide bar; 40. No. 2 slide bar; 41. No. 3 spring. DETAILED DESCRIPTION

[0037] The following will be described clearly and completely in conjunction with 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.

[0038] Example 1: Please refer to Figure 1 - Fig.11 The present embodiment provides a mechanical arm for automobile tire installation and detection and a method for using the same, comprising a base 1, a universal wheel is arranged at the bottom of the base 1, and the universal wheel is electrically driven to realize the movement of the mechanical arm, a movable arm 2 is arranged on the top of the base 1, and the movable arm 2 is multi-axis movable direction, can realize 360° rotation, and the longitudinal movement is 180°, a claw plate 3 is fixedly connected to the other end of the movable arm 2, a rotation groove 4 is opened on the side of the claw plate 3 away from the movable arm 2, an inner gear ring 5 is embedded and rotatably connected inside the rotation groove 4, an outer rod 6 is fixedly connected to the outer side of the inner gear ring 5, a lifting pump 7 is fixedly connected to one side of the outer rod 6, a lifting frame 8 is arranged at the output end of the lifting pump 7, the lifting frame 8 penetrates and is slidably connected to the outer rod 6, a detection arc plate 9 is arranged at one end of the lifting frame 8 penetrating the outer rod 6, a high-speed camera lens is arranged inside the inner arc wall of the detection arc plate 9, and is used for shooting and analyzing the surface condition of the tire, and a tire pressure detection device is also arranged in the detection arc plate 9, and the tire pressure detection device is a press-type, and the tire pressure of the tire is detected by squeezing the tire;

[0039] A grabbing rod 10 is fixedly connected to the center position of the claw plate 3 near the rotating groove 4. The grabbing rod 10 has a moving opening 11 formed through the arc surface. A push plate 12 is sleeved and slidably installed on the outer side of the grabbing rod 10. A sliding plate 13 is fixedly connected to the inner arc wall of the push plate 12 near the moving opening 11. The sliding plate 13 is adapted and slidably connected to the moving opening 11. A threaded rod 17 is rotatably connected inside the moving opening 11. The threaded rod 17 penetrates and is threadedly connected to the sliding plate 13.

[0040] A second motor 20 is installed inside the grabbing rod 10 near one end of the claw plate 3, and an electromagnetic lock sleeve 21 is slidably connected to the output end of the second motor 20. A limited spline 22 is fixedly connected to one side of the threaded rod 17 relative to the electromagnetic lock sleeve 21, and a spline groove 23 is provided on one side of the electromagnetic lock sleeve 21 relative to the limited spline 22. The limited spline 22 is adapted to be plugged in with the spline groove 23. By docking the limited spline 22 and the spline groove 23, the threaded rod 17 can be flexibly used, thereby facilitating the stable movement of the push plate 12.

[0041] Movable grooves 14 are provided inside the grabbing rod 10 near both sides of the moving opening 11, and a telescopic opening 15 is provided through the outer arc wall of the grabbing rod 10. The telescopic opening 15 is connected to the movable groove 14, and a baffle 16 is adapted and slidably connected to the inner side of the telescopic opening 15. After the grabbing rod 10 is inserted into the axial hole of the tire, the baffle 16 can be used to limit the position of multiple tires separately.

[0042] The inner arc of the inner gear ring 5 is meshed with a gear 18, and the gear 18 is rotatably connected to the inside of the claw plate 3. The claw plate 3 is close to the movable arm 2 and is bolted to the outer wall position relative to the center of the gear 18 with a No. 1 motor 19. The output end of the No. 1 motor 19 passes through the side wall of the claw plate 3 and is fixedly connected to the gear 18. The gear 18 is driven to rotate by the No. 1 motor 19, and then the gear 18 drives the inner gear ring 5 to rotate in the rotating groove 4 by meshing drive. Then the inner gear ring 5 drives the outer rod 6 and the detection arc plate 9 to circle around the outside of the tire, thereby detecting various tire data, especially whether the tire is deformed.

[0043] The device is installed to the automobile tire installation process position through the base 1. When the tire is installed, the movable arm 2 moves in multiple directions and angles to grab the automobile tire. The automobile tires are stacked in advance, and then the grabbing rod 10 is inserted into the axial hole of the tire. After the grabbing rod 10 is completely inserted into the axial hole of the stacked tire, the baffle 16 of the grabbing rod 10 guard arm pops out from the telescopic opening 15 to limit the tire. At this time, the movable arm 2 moves, driving the claw plate 3 and the grabbing rod 10 to move, so that the tire can be moved to the tire installation position of the car. Then the electromagnetic locking sleeve 21 at the output end of the No. 2 motor 20 is energized to generate magnetism, and then the electromagnetic locking sleeve 21 is outside the output end of the No. 2 motor 20 toward the limit spline 22. The second motor 20 starts, and the threaded rod 17 is driven to rotate through the limit spline 22 and the electromagnetic lock sleeve 21. The rotation of the threaded rod 17 drives the sliding plate 13 to move in the moving port 11, and the moving direction is the direction away from the claw plate 3. At this time, the push plate 12 can push the tire from the outside of the grabbing rod 10 to the end. During the process, the baffle 16 will be recovered into the telescopic port 15 to release the limit of the tire. After a tire is pushed out, the electromagnetic lock sleeve 21 is powered off and separated from the limit spline 22. At this time, the baffle 16 can be extended from the telescopic port 15 again to continue to limit the remaining tires. Then, the above process is fully completed, and all tires can be installed;

[0044] The baffle 16 moves in the telescopic opening 15 when the No. 2 motor 20 is energized and the winding drum 31 is energized and magnetized. At this time, the winding drum 31 is magnetically fixed to the output end of the No. 2 motor 20. Subsequently, the spline groove 23 of the electromagnetic lock sleeve 21 at the end of the No. 2 motor 20 is plugged into the limit spline 22. At this time, the No. 2 motor 20 rotates, and the winding drum 31 begins to drive the pull rope 32 to reel. At the same time, the threaded rod 17 rotates, and the push plate 12 moves to push the tire to move and install. At this time, the pull rope 32 pulls the stop block 33 in the rope groove 29 to move, and the stop block 33 moves in the direction of the limit plate 24. Then the stop block 33 contacts the telescopic plate 35 and moves in the direction of the No. 2 motor 20. At this time, the telescopic plate 35 drives the moving plate 28 to move in the through groove 30. Subsequently, when the limit plate 24 moves to the end position of the through groove 30, the stop block 33 continues to move through the pull rope 32. At this time, the stop block 33 and the telescopic plate 35 contact through the arc surface, which can make the telescopic plate 35 move. The retractable plate 35 contracts toward the movable plate 28, and then the retractable plate 35 squeezes the No. 2 spring 36, and the stop block 33 moves to the other side of the retractable plate 35. At this time, the limit plate 24 can drive the isolation plate 27 to move away from between the magnetic strip 25 and the electromagnetic block 26. At this time, the magnetic strip 25 and the electromagnetic block 26 are magnetically attracted to each other. At this time, the baffle 16 is inserted into the movable groove 14 along with the limit plate 24, so that the baffle 16 can be retracted in the telescopic opening 15, and then the tire can move outside the grab bar 10. On the contrary, when a tire is detached and installed, the winding drum 31 is powered off, and the No. 1 spring 34 is stretched without force, driving the stop block 33 to move and reset, repeating the above-mentioned movement process of the stop block 33 and the retractable plate 35. At this time, the isolation plate 27 is inserted between the magnetic strip 25 and the electromagnetic block 26, and the baffle 16 rebounds through the No. 3 spring 41 between the limit plate 24 and the movable groove 14, so that the baffle 16 pops out of the telescopic opening 15

[0045] Example 2: Please refer to Figure 6 - Fig.11 , further improvements are made on the basis of the first embodiment:

[0046] A side of the baffle 16 close to the inner groove of the movable groove 14 is fixedly connected to a limit plate 24, and a side of the limit plate 24 away from the baffle 16 is fixedly connected to a magnetic strip 25. An electromagnetic block 26 is fixedly connected to the inner groove wall of the movable groove 14 relative to the magnetic strip 25. An isolation plate 27 is movably provided in the inner groove of the movable groove 14. A rope groove 29 is opened inside the grabbing rod 10 between the moving port 11 and the movable groove 14. A winding reel 31 is electromagnetically connected to the output end of the No. 2 motor 20. A pull rope 32 is wound around the winding reel 31, and the pull rope 32 is movably arranged in the rope groove 29.

[0047] A movable plate 28 is fixedly connected to one side of the isolation plate 27 close to the rope groove 29, and a through groove 30 is opened with respect to the movable plate 28 near the grabbing rod 10 close to the movable groove 14 and the rope groove 29, and the movable plate 28 penetrates the through groove 30 and is adapted to be slidably connected, and a telescopic plate 35 is embedded in and slidably connected to one end of the movable plate 28 close to the rope groove 29, and a stop block 33 is fixedly connected to the end of the pull rope 32 away from the winding drum 31, and the stop block 33 is adapted to and slidably connected to the inner groove of the rope groove 29, and a total of four stop blocks 33 are arranged in one side of the rope groove 29, and the stop block 33 is arranged at the position where the pull rope 32 is close to the telescopic plate 35, so that the four baffles 16 on the outside of the grabbing rod 10 can be synchronously telescoped in the telescopic opening 15.

[0048] The first spring 34 is fixedly connected between the stopper 33 at the end of the pull rope 32, away from the side of the pull rope 32, and the inner groove wall of the rope groove 29, which is convenient for the rebound of the stopper 33. When the winding drum 31 is powered off and demagnetized, the stopper 33 can quickly rebound and reset, and then the stopper 33 can drive the moving plate 28 and the isolation plate 27 to reset. A second spring 36 is fixedly connected between the side of the telescopic plate 35 close to the inner groove of the moving plate 28 and the inner groove wall opposite to it. Slots 38 are provided in the inner grooves at both ends of the through groove 30. The positions of the two sides of the moving plate 28 relative to the slots 38 are fixedly connected to the plug plates 37. When the moving plate 28 moves to both ends in the through groove 30, the plug plates 37 are used to The mutual plugging with the slot 38 can improve the stability of the movable plate 28 driving the isolation plate 27 to block the magnetic attraction strip 25 and the electromagnetic block 26. A No. 1 slide bar 39 is fixedly connected between the two ends of the inner groove of the through groove 30. The No. 1 slide bar 39 penetrates and is slidably connected to the movable plate 28. The two sides of the telescopic plate 35 close to the inner groove of the rope groove 29 are arranged in an arc surface. The edge position of one side of the push block 33 relative to the telescopic plate 35 is arranged in an arc surface. The push block 33 and the telescopic plate 35 are both arranged in an arc surface, which is convenient for the push block 33 to squeeze the telescopic plate 35, and then facilitates the improvement of the stroke of the push block 33, ensuring that the push block 33 drives the movable plate 28 and the isolation plate 27 to move stably and conveniently.

[0049] Example 3: Please refer to Fig. 9 , further improvements are made on the basis of the first embodiment:

[0050] A No. 2 slide bar 40 is fixedly connected between the inner groove walls of the movable groove 14, and the No. 2 slide bar 40 penetrates and is slidably connected to the side wall of the limit plate 24. A No. 3 spring 41 is arranged on the outer side of one end of the No. 2 slide bar 40 away from the magnetic attraction strip 25, and the two ends of the No. 3 spring 41 are fixedly connected between the movable groove 14 and the limit plate 24. The baffle 16 pops out from the telescopic opening 15 by the rebound of the No. 3 spring 41. When there is no isolation plate 27 blocking the magnetic attraction strip 25 and the electromagnetic block 26, the electromagnetic block 26 magnetically attracts the magnetic attraction strip 25 of the limit plate 24. When the limit plate 24 slides on the outside of the second slide bar 40 and pulls the third spring 41, the baffle 16 can be retracted into the telescopic opening 15. When the isolation plate 27 blocks between the magnetic strip 25 and the electromagnetic block 26, there is no magnetic attraction effect between the magnetic strip 25 and the electromagnetic block 26. At this time, the third spring 41 can rebound and drive the limit plate 24 to move on the outside of the second slide bar 40 toward the telescopic opening 15. At this time, the baffle 16 can pop out from the telescopic opening 15, thereby limiting the tire and realizing the simultaneous grasping of multiple tires.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm for automobile tire installation detection, comprising a base (1), characterized in that: A movable arm (2) is mounted on the top of the base (1); a claw plate (3) is fixedly connected to the other end of the movable arm (2); a rotation groove (4) is provided on a side of the claw plate (3) away from the movable arm (2); an inner toothed ring (5) is embedded in and rotatably connected to the rotation groove (4); an outer rod (6) is fixedly connected to the outer side of the inner toothed ring (5); a lifting pump (7) is fixedly connected to one side of the outer rod (6); a lifting frame (8) is mounted on the output end of the lifting pump (7); the lifting frame (8) penetrates and is slidably connected to the outer rod (6); and a detection arc plate (9) is mounted on one end of the lifting frame (8) that penetrates the outer rod (6); A grabbing rod (10) is fixedly connected to the center position of a circle of one side of the claw plate (3) near the rotating groove (4); a moving opening (11) is formed through the arc surface of the grabbing rod (10); a push plate (12) is sleeved and slidably installed on the outer side of the grabbing rod (10); a sliding plate (13) is fixedly connected to the inner arc wall of the push plate (12) near the moving opening (11); the sliding plate (13) is adapted to and slidably connected to the moving opening (11); a threaded rod (17) is rotatably connected to the inside of the moving opening (11); the threaded rod (17) penetrates and is threadedly connected to the sliding plate (13); A second motor (20) is installed inside one end of the grab rod (10) close to the claw plate (3); an output end of the second motor (20) is slidably connected to an electromagnetic lock sleeve (21); a side of the threaded rod (17) opposite to the electromagnetic lock sleeve (21) is fixedly connected to a limit spline (22); a side of the electromagnetic lock sleeve (21) opposite to the limit spline (22) is provided with a spline groove (23); the limit spline (22) is adapted to be plugged into the spline groove (23); The grabbing rod (10) is provided with movable grooves (14) on both sides of the moving opening (11), and a telescopic opening (15) is provided through the outer arc wall of the grabbing rod (10). The telescopic opening (15) and the movable grooves (14) are communicated with each other, and a baffle (16) is adapted and slidably connected to the inner side of the telescopic opening (15).

2. The mechanical arm for automobile tire installation detection according to claim 1, characterized in that: The inner arc of the inner gear ring (5) is meshed with a gear (18), and the gear (18) is rotatably connected to the inside of the claw plate (3). A first motor (19) is bolted to the outer wall of the claw plate (3) close to the movable arm (2) and opposite to the center of the gear (18), and the output end of the first motor (19) passes through the side wall of the claw plate (3) and is fixedly connected to the gear (18).

3. The mechanical arm for automobile tire installation detection according to claim 1, characterized in that: A side of the baffle (16) close to the inner groove of the movable groove (14) is fixedly connected to a limiting plate (24), a side of the limiting plate (24) away from the baffle (16) is fixedly connected to a magnetic strip (25), an inner groove wall of the movable groove (14) opposite to the magnetic strip (25) is fixedly connected to an electromagnetic block (26), an inner groove of the movable groove (14) is movably provided with an isolation plate (27), an inner groove of the movable groove (14) is provided with a rope groove (29), an inner portion of the grabbing rod (10) close to the moving opening (11) and the movable groove (14), an output end of the second motor (20) is electromagnetically connected to a winding drum (31), a pull rope (32) is wound around the winding drum (31), and the pull rope (32) is movably arranged in the rope groove (29).

4. The mechanical arm for automobile tire installation detection according to claim 3, characterized in that: A movable plate (28) is fixedly connected to one side of the isolation plate (27) close to the rope groove (29); a through groove (30) is provided on the grab rod (10) close to the movable groove (14) and the rope groove (29) and relative to the movable plate (28); the movable plate (28) and the through groove (30) penetrate and are adapted to be slidably connected; a telescopic plate (35) is embedded in and slidably connected to one end of the movable plate (28) close to the rope groove (29); a stop block (33) is fixedly connected to one end of the pull rope (32) away from the winding drum (31); the stop block (33) is adapted to be slidably connected to the inner groove of the rope groove (29).

5. The mechanical arm for automobile tire installation detection according to claim 4, characterized in that: A first spring (34) is fixedly connected between the side of the stopper (33) away from the pull rope (32) and the inner groove wall of the rope groove (29), and a second spring (36) is fixedly connected between the side of the telescopic plate (35) close to the inner groove of the movable plate (28) and the inner groove wall opposite thereto.

6. The mechanical arm for automobile tire installation detection according to claim 4, characterized in that: Slots (38) are provided in the inner grooves at both ends of the through groove (30), and plug plates (37) are fixedly connected to the positions of the two sides of the movable plate (28) relative to the slots (38).

7. The mechanical arm for automobile tire installation detection according to claim 4, characterized in that: A first slide bar (39) is fixedly connected between the two ends of the inner groove of the through groove (30), and the first slide bar (39) penetrates and is slidably connected to the movable plate (28).

8. The mechanical arm for automobile tire installation detection according to claim 4, characterized in that: The two sides of one end of the telescopic plate (35) close to the inner groove of the rope groove (29) are arranged in an arc shape, and the edge position of one side of the stop block (33) relative to the telescopic plate (35) is arranged in an arc shape.

9. The mechanical arm for automobile tire installation detection according to claim 3, characterized in that: The limiting plate (24) passes through and is slidably connected to a No. 2 slide bar (40), the No. 2 slide bar (40) is fixedly connected between the inner groove walls of the movable groove (14), the limiting plate (24) is fixedly connected to a No. 3 spring (41) at a position away from the magnetic attraction strip (25) and close to the outer side of the No. 2 slide bar (40), and the other end of the No. 3 spring (41) is fixedly connected to the inner groove wall of the movable groove (14).

10. The method for using the automobile tire installation detection robot arm is applied to the automobile tire installation detection robot arm according to any one of claims 1 to 9, and the specific method for using the robot arm is as follows: S1. The device is installed at the automobile tire installation process position through the base (1). When the tire is installed, the movable arm (2) moves in multiple directions and angles to grab the automobile tire. The automobile tires are stacked in advance, and then the grabbing rod (10) is inserted into the axial hole of the tire. After the grabbing rod (10) is completely inserted into the axial hole of the stacked tire, the baffle (16) of the grabbing rod (10) arm guard pops out from the telescopic opening (15) to limit the tire. At this time, the movable arm (2) moves, driving the claw plate (3) and the grabbing rod (10) to move, so that the tire can be moved to the tire installation position of the automobile; S2. Then, the electromagnetic lock sleeve (21) at the output end of the second motor (20) is energized to generate magnetism, and then the electromagnetic lock sleeve (21) moves outside the output end of the second motor (20) in the direction of the limit spline (22), and then the spline groove (23) is aligned with the limit spline (22) and plugged in. At this time, the second motor (20) is started, and the threaded rod (17) is driven to rotate through the limit spline (22) and the electromagnetic lock sleeve (21); S3. The threaded rod (17) rotates to drive the sliding plate (13) to move in the moving opening (11), and the moving direction is the direction away from the claw plate (3). At this time, the push plate (12) can push the tire from the outside of the grab rod (10) to the end. During the process, the baffle (16) will be recovered into the telescopic opening (15) to release the limit on the tire. After a tire is pushed out, the electromagnetic locking sleeve (21) is powered off and separated from the limit spline (22). At this time, the baffle (16) can be extended from the telescopic opening (15) again to continue to limit the remaining tires. Then repeat the above process to install all tires.

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