Automatic wheel dismounting and mounting equipment for agricultural vehicle

Abstract

The invention relates to automatic wheel dismounting and mounting equipment for a farm vehicle. Comprising two groups of hydraulic oil cylinders with vehicle body bearing plates and self-adaptive clamping plates and is used for lifting and locking the frame. A base supporting frame is arranged on the sliding guide rails on the two sides, and a clamping and supporting frame body is installed on the base supporting frame through an electric rotating table and a first linear module. The clamping supporting frame is provided with a clamping rod driven by a second air cylinder so as to clamp a tire. The second linear module drives the rotating shaft supporting shell and the sleeve assembly to advance so that the bolt can be sleeved with the sleeve connector, and the first air channel flow channel and the second air channel flow channel are vacuumized to adsorb the bolt. The first driving gear drives the four torque transmission assemblies, all the torque transmission assemblies act with the sleeve boss through the metal springs and the driving bosses, self-adaptive torque synchronous disassembly is achieved, and vibration impact is generated when resistance is met; after disassembly, the device is reset, and the bolts are blown into the bolt collecting shell; automation of the whole wheel dismounting process is achieved, and the problems that bolts are prone to falling off, and torque is uneven are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of farm truck, and particularly relates to a wheel automatic dismounting equipment for a farm truck. BACKGROUND

[0002] In the process of exporting farm trucks, a carefully designed packing method is usually adopted to meet the efficient requirements of container transportation and ensure the safety of goods. As a widely used vehicle in agriculture and logistics, a farm truck is composed of a cab, wheels and a bearing frame. During the export preparation stage, the operator first loads the farm truck into a customized frame, which is specially made according to the size of the standard container and can closely fit the container space, so as to facilitate the overall placement and maximize the utilization of the volume. In order to improve the space utilization rate during packing and effectively prevent damage caused by shaking during transportation, the operator will carefully remove the wheels and bearing frame of the farm truck. These disassembled parts are then properly placed in the cab position and fixed using the available space in the cab, which not only saves additional space, but also avoids the movement of the parts during transportation, thereby enhancing the overall stability.

[0003] An automatic wheel hub dismounting equipment and working method are disclosed in CN119457818A. According to the specification and drawings, the scheme includes a horizontal guide rail, a vertical guide rail and a wheel hub dismounting device. The vertical guide rail is arranged above the horizontal guide rail, which includes a transverse guide rail and a longitudinal guide rail. The wheel hub dismounting device is arranged on the vertical guide rail, and a workbench is arranged below the horizontal guide rail. Two horizontal guide rails, four vertical guide rails and four wheel hub dismounting devices are arranged on the workbench. The wheel hub dismounting device is installed between the two vertical rails through a third sliding block. A plurality of universal sleeves are arranged on the wheel hub dismounting device.

[0004] There are still some limitations in its scheme: 1. When all the bolts are loosened synchronously, the sleeve will back off, and the bolts will fall out of the hub bolt hole due to gravity or vibration; these fallen bolts may fall into the internal gap of the equipment such as the guide rail, causing the equipment to be stuck and damaged; or fall to the ground, which needs to be picked up manually, seriously affecting the efficiency and continuity of automation. 2. Its scheme can only loosen all the bolts; however, the core step of disassembling the hub is to remove the hub; the lack of a clamping mechanism means that the equipment cannot remove the loosened hub from the axle or transport it to the designated location; the entire automated process is interrupted here, and manual or another device is needed to complete the most critical operation, which greatly reduces the value of automation. 3. When disassembling the hub, it is almost impossible for all bolts to have the same degree of rust and tightness; when encountering a bolt with too much locking force, the required torque will increase sharply. Due to the rigid connection of its structure, the torque of all output shafts will be raised to the same high level; this is extremely easy to cause motor overload, gear tooth damage or transmission shaft torsion. If during the forced twisting process, the huge and uneven internal stress will cause the hub, especially the aluminum alloy hub, to twist and deform, or directly cause the thread of the bolt with too much locking force to slip, the bolt to break. SUMMARY

[0005] The present application mainly aims at the above-mentioned problems existing in the automatic disassembly of the hub equipment of the farm car, and invents an automatic wheel disassembly and assembly equipment for farm cars, which can automatically complete the whole process of vehicle lifting and fixing, tire alignment, bolt adaptive synchronous disassembly and anti-falling collection, and is an integrated automatic wheel disassembly and assembly equipment.

[0006] The objective of this invention is achieved through the following technical solution: an automatic wheel removal and installation device for a farmer's vehicle, comprising several hydraulic cylinders, each hydraulic cylinder having a vehicle body support plate at the piston rod end, the several vehicle body support plates being used to fit against the bottom of the farmer's vehicle frame; base support frames are also provided on both sides of each hydraulic cylinder, each base support frame having a first linear module on its surface, and a clamping support frame being provided on the slide of each set of first linear modules; several clamping rods for clamping onto the outer sidewall of the tire are provided on one side of each clamping support frame; a second linear module is also provided in the middle of each clamping support frame, each set of second linear modules having a first drive motor and a rotating shaft support housing on its slider body, and each rotating shaft support housing having a first drive gear and several torque transmission sets rotatably mounted inside. The torque transmission assembly has a length that changes with the deformation of the metal spring on it. Each torque transmission assembly is connected to a first drive gear. The shaft of each first drive motor passes through a shaft support housing and is connected to the first drive gear. Each torque transmission assembly rotates with the rotation of the first drive gear. Each shaft support housing has several sleeve assemblies inside. One end of each sleeve assembly has a slot for engaging with a vehicle bolt. The other end of each sleeve assembly passes through the interior of the torque transmission assembly until it is rotatably connected to the interior of the shaft support housing. Each sleeve assembly has a sleeve boss on its outer side wall, and each torque transmission assembly has a drive boss on its outer side wall. When each torque transmission assembly rotates, the drive boss applies a circumferential thrust to the sleeve boss.

[0007] Preferably, each sleeve assembly includes a sleeve shaft and a sleeve connector. The sleeve boss is disposed on the outer side wall of the sleeve shaft, and the end of the sleeve shaft is threadedly connected to the sleeve connector. The sleeve connector has a polygonal groove inside. An annular limiting plate is also provided on the outer side wall of the sleeve shaft. A columnar boss is integrally extended on the shaft support housing. A first copper sleeve and a second copper sleeve are respectively disposed inside the shaft support housing and the columnar boss. The sleeve shaft is disposed inside the first copper sleeve and the second copper sleeve, and one side of the annular limiting plate abuts against the side wall of the first copper sleeve.

[0008] In this setup, the hydraulic cylinders and the vehicle body support plate are used to lift and stabilize the farmer's vehicle frame, providing a stable working platform for wheel operation and forming the basis for the equipment's operation; the base support frame and the first linear module constitute a mobile base, which can drive all the actuators on it to make precise position adjustments along the vehicle's length to adapt to different wheelbases or parking deviations.

[0009] Preferably, the sleeve shaft and sleeve joint are provided with a first air passage, and the rotating shaft support housing is also provided with a second air passage that communicates with the first air passage, and the second air passage is provided with an air joint inside.

[0010] Preferably, each set of torque transmission components includes a driven gear, a transmission housing, and a metal spring. The driven gear and the transmission housing are rotatably disposed on the surface of the sleeve assembly. A first limiting ring is provided on the side of the driven gear facing the sleeve boss. The transmission housing is axially movable on the sleeve assembly. A second limiting ring and a third limiting ring are provided on both sides of the transmission housing, respectively. The metal spring is engaged between the first limiting ring and the second limiting ring. A driving boss is provided inside the third limiting ring.

[0011] Preferably, the first limiting ring body is provided with a plurality of limiting shafts in the circumferential direction, and the second limiting ring body is provided with a plurality of limiting sleeves coaxial with the limiting shafts, wherein the limiting shafts are slidably disposed inside the limiting sleeves.

[0012] Preferably, each clamping support frame includes a fixed frame and a rotating frame. Each clamping rod is disposed on the side wall of the fixed frame. A plurality of hinge pins are provided inside one side of the fixed frame, and a plurality of support pins are provided inside the other side of the fixed frame. The end of each support pin is hinged to the base of the first cylinder. The rotating frame is hinged to the hinge pins. A drive pin is provided inside the rotating frame, and the piston rod of the first cylinder is hinged to the drive pin. The side wall of the rotating frame, located below the sleeve assembly, is also provided with a bolt guide housing and a bolt collecting housing, and the opening of the bolt collecting housing communicates with the interior of the bolt guide housing.

[0013] Preferably, each of the rotating frames is provided with a second cylinder and several rod support seats on its side wall. The piston rod end of the second cylinder is provided with a sliding support seat, and at least one clamping rod is provided on the sliding support seat. Each clamping rod is provided with a plastic ring on its surface, and each clamping rod is hinged to the side wall of the rotating frame or the sliding support seat. A rolling sleeve is hinged inside each rod support seat, and the axis of each clamping rod is perpendicular to the axis of the rolling sleeve. A second drive motor is also provided on the side wall of the rotating frame, and the shaft of the second drive motor is connected to any one of the clamping rods. A camera support rod is also provided on the fixed frame, and an industrial camera is provided at the end of the camera support rod. The camera port of the industrial camera faces the wheel bolt.

[0014] Preferably, the first linear module is a lead screw linear module, and the second linear module includes a slider support, a sliding guide rod, a slider body, a third cylinder, and a magnetic induction proximity switch. The surface of the fixed frame is also provided with a support plate, and the support plate is provided with a plurality of slider support seats. A plurality of sliding guide rods are provided between adjacent slider support seats, and the slider body is slidably mounted on the sliding guide rods. At least one side wall of the slider support seat is connected to one side of the cylinder body of the third cylinder, and the side wall of the slider support seat is provided with a magnetic induction proximity switch. The piston rod end of the third cylinder passes through the inside of the slider support seat and is connected to the slider body. The slider body is also provided with a fixing profile connected to the rotating shaft support housing.

[0015] Preferably, the hydraulic cylinder is provided with sliding guide rails on both sides, and the sidewalls of the sliding guide rails are provided with toothed plates; an electric rotary table is provided on the surface of the base support frame, the first linear module is provided on the rotary table surface of the electric rotary table, and the bottom of the base support frame is provided with a plurality of supporting rollers and limiting rollers that can rotate, the limiting rollers being in contact with the sidewalls of the sliding guide rails; a third drive motor is also provided on the bottom of the base support frame, and the end of the shaft of the third drive motor is provided with a second drive gear that meshes with the toothed plates.

[0016] This setup enables the entire base support frame to move automatically along the vehicle's length, compensating for vehicle parking position errors and moving the disassembly / removal station to the most suitable position; the electric rotary table can drive the first linear module and the clamping support frame on it to rotate as a whole, thereby adjusting the clamping and disassembly angles to accommodate the possible tilt angles of the wheels.

[0017] Preferably, the farmer's vehicle is provided with a cargo box frame, which includes an upper frame, a lower frame, and a plurality of frame support rods. The connecting ends of the frame support rods are hinged. Both the upper and lower frames are provided with a plurality of hinged support plates, each of which is hinged to the end of a frame support rod. Each of the vehicle body support plates is provided with a plurality of limiting support seats on its surface. Each limiting support seat is internally hinged with a locking plate. The side wall of the locking plate is provided with a silicone pad, and the inside of the locking plate is provided with a rotatable limiting shaft.

[0018] The foldable design of the carriage frame in this setup saves a lot of space; the detached wheels can be fixed on the folded carriage frame and stored in limited spaces such as the farmer's cab, which facilitates transportation and storage and improves the portability and space utilization of the whole set of equipment.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. Achieves torque isolation and overload buffering: When a bolt corresponding to a sleeve joint is difficult to remove, and its resistance torque exceeds the initial thrust of the drive boss on the sleeve boss, the transmission housing will compress the metal spring and undergo axial displacement relative to the driven gear. During this process, the limiting shaft slides within the limiting sleeve. This mechanism allows the driven gear (driven by the first drive gear) to continue rotating, while the obstructed sleeve shaft temporarily stops rotating, thus achieving flexible torque isolation. This avoids forcibly raising all transmission chains to the high torque level required for bolts with excessive tightening force, effectively preventing the first drive motor from stalling and overloading, gear tooth breakage, or transmission shaft breakage. In the cycle of the metal spring being compressed and subsequently reset, the drive boss periodically slides past the sleeve boss and impacts the annular limiting plate. This intermittent high-frequency impact force is transmitted to the bolt through the sleeve shaft, forming an effective loosening effect. Because this mechanism avoids the continuous and enormous rigid torque being forcibly applied to the entire wheel hub, it significantly reduces the risk of wheel hub (especially aluminum alloy materials) tortuous deformation due to uneven stress, or bolt thread stripping and bolt breakage.

[0020] 2. The sleeve assembly uniquely integrates a first and second airflow channel, connected to an external airflow system via an airflow connector. When disassembling wheel bolts, a vacuum is created inside the sleeve connector, forming a negative pressure that firmly adheres the bolt head to the polygonal groove. This completely prevents the bolt from falling off during sleeve retraction, ensuring the continuity and safety of the disassembly process. After disassembly, air is blown into the airflow channel, forcing the bolt into a pre-designated bolt collection housing. This achieves automatic, directional, and centralized bolt collection, significantly improving work neatness and post-processing efficiency. The pneumatic adsorption principle is integrated into the high-speed rotating sleeve, ensuring compatibility between rotation and adsorption under dynamic conditions.

[0021] 3. In this solution, the sliding support seat is driven by the second cylinder, which in turn drives multiple clamping rods with plastic ring sleeves to move in tandem, forming an enveloping clamping mechanism. The multi-rod linkage structure can adapt to the curvature of tires of different sizes, ensuring stable clamping without damaging the wheel hub. An industrial camera captures the bolt position; if the position is incorrect, the second drive motor drives the clamping rods to rub against the tire, causing it to rotate to a set angle, ensuring precise alignment between the bolt and the sleeve, effectively achieving automated disassembly.

[0022] 4. After the bolts are removed, the slide of the first linear module retracts the clamping support frame on its surface, and the piston rod of the first cylinder retracts, pulling the drive pin. This forces the entire rotating frame (along with its clamping rod and the clamped wheel) to rotate upwards around the hinge pin until it reaches the top of the fixed frame. The rotation process itself applies a separation force away from the axle to the wheel hub, physically separating the loosened wheel hub from the axle. After rotation, the wheel hub is lifted and positioned in an easily accessible and graspable location and orientation. Workers or subsequent handling robotic arms can easily remove the wheel hub from this position or place it directly on the folded carriage frame. This design fills the critical operational gap between loosening the bolts and repositioning the wheel hub, allowing the entire process from disassembly to handling to be performed continuously on one machine, significantly enhancing the value of automation.

[0023] 5. From the hydraulic cylinders, clamping plates, and limit pivots securing the vehicle, to the sliding guide rails, third drive motor, second drive gear, and support rollers moving the equipment, and finally to the position adjustment of the electric rotary table and the first linear module, the entire process is automated. The clamping plate's adaptive flipping design allows it to firmly hold frames of varying thicknesses, and combined with the hydraulic cylinders' lifting mechanism, provides a stable platform for subsequent operations. The entire base support frame can move along the sliding guide rails, allowing the disassembly device to adapt to vehicle parking errors and actively locate the tires. The electric rotary table can fine-tune the angle of the clamping support frame to compensate for any wheel tilt. These positioning and movement mechanisms are not isolated but deeply integrated with clamping, vision alignment, and torque-adaptive disassembly modules, collectively achieving full automation from vehicle entry to bolt collection. Attached Figure Description

[0024] Figure 1 This is a perspective view of the present invention; Figure 2 This is a perspective view of the present invention; Figure 3 This is a partial perspective view of the present invention; Figure 4 This is a partial perspective view of the present invention; Figure 5 This is a partial cross-sectional view of the present invention; Figure 6 This is a cross-sectional view of the shaft support housing region of the present invention; Figure 7 This is a cross-sectional view of the present invention after a set of sleeve components has been removed; Figure 8 This is a schematic diagram of the internal transmission structure of the shaft support housing of the present invention; Figure 9 This is a perspective view of the carriage frame of the present invention; Figure 10 This is a perspective view of the folded frame of the vehicle body according to the present invention; Figure 11 This is a perspective view of the hydraulic cylinder area of ​​the present invention; Figure 12 This is a partial perspective view of the present invention; Figure 13 This is a perspective view showing the relationship between the sleeve boss and the drive boss of the present invention.

[0025] The diagram shows the following components: 1. Hydraulic cylinder; 10. Sliding guide rail; 101. Toothed plate; 11. Vehicle body support plate; 111. Limiting support seat; 112. Clamping plate; 113. Silicone pad; 114. Limiting pivot; 2. Farm vehicle; 21. Cargo box frame; 211. Upper frame; 212. Lower frame; 213. Frame support rod; 214. Hinge support plate; 3. Base support frame; 30. First linear module; 31. Electric rotary table; 32. Support roller; 33. 34. Limiting roller; 35. Third drive motor; 46. Second drive gear; 47. Torque transmission assembly; 48. Driven gear; 49. Transmission housing; 40. First limiting ring; 41. Limiting shaft; 42. Second limiting ring; 43. Limiting bushing; 44. Third limiting ring; 45. Metal spring; 46. Drive boss; 57. Clamping support frame; 58. Fixed frame; 59. Hinge pin; 50. Support pin; 51. Camera support rod; 51. 13. Industrial camera; 52. Rotating frame; 521. Drive pin; 522. Bolt guide housing; 523. Bolt collecting housing; 524. Second cylinder; 525. Rod support; 526. Sliding support; 527. Rolling sleeve; 528. Second drive motor; 53. First cylinder; 54. Support plate; 6. Clamping rod; 61. Plastic ring; 7. Second linear module; 71. Slider support; 72. Sliding guide rod; 73. Slider body; 74. Magnetic induction proximity switch; 75. Fixed profile; 76. Third cylinder; 8. Sleeve assembly; 81. Sleeve shaft; 811. Annular limiting plate; 82. Sleeve connector; 821. Polygonal slot; 83. Sleeve boss; 84. First air passage; 9. Rotary shaft support housing; 90. First drive motor; 91. First drive gear; 92. Columnar boss; 93. First copper sleeve; 94. Second copper sleeve; 95. Second air passage; 96. Air passage connector. Detailed Implementation

[0026] The present invention will be further described below with reference to the embodiments illustrated in the accompanying drawings: like Figure 1 and Figure 2 As shown, an automatic wheel removal and installation device for a farmer's vehicle includes two sets of hydraulic cylinders 1. Each set of hydraulic cylinders 1 has a vehicle body support plate 11 at the end of its piston rod. The two vehicle body support plates 11 are used to fit against the front and rear of the bottom of the frame of the farmer's vehicle 2.

[0027] Please continue to refer to this. Figure 11 Each of the vehicle body support plates 11 has a plurality of limiting support seats 111 on its surface. Each of the limiting support seats 111 has a latching plate 112 hinged inside. The side wall of the latching plate 112 is provided with a silicone pad 113 and the inside of the latching plate 112 is provided with a limiting pivot 114 that can rotate.

[0028] During implementation, hydraulic cylinder 1 can be a commonly used hydraulic cylinder in existing technology, the structure and principle of which are common knowledge and will not be elaborated here. When the farmer's vehicle 2 drives over the two sets of hydraulic cylinders 1, before the piston rod of hydraulic cylinder 1 extends, the clamping plate 112 flips to the top of the limiting support seat 111. At this time, the surface of the limiting shaft 114 and the surface of the silicone pad 113 face the bottom of the farmer's vehicle 2 frame. Subsequently, as the piston rod of hydraulic cylinder 1 gradually extends, a compressive force is generated between the clamping plate 112 and the farmer's vehicle frame. This compressive force drives the clamping plate 112 to flip downward. During the flipping process, the two clamping plates 112 gradually become out of plane and gradually become parallel to each other. The gap between the clamping plates 112 is adapted to the side wall of the farmer's vehicle 2 frame. This continues until the surface of the silicone pad 113 and the surface of the limiting shaft 114 are engaged with the side wall of the farmer's vehicle frame.

[0029] Please continue to refer to the reference. Figure 9 and Figure 10 In this embodiment, the farmer's vehicle 2 is provided with a carriage frame 21, which includes an upper frame 211, a lower frame 212, and a plurality of frame support rods 213. The connecting ends of the frame support rods 213 are hinged. The upper frame 211 and the lower frame 212 are each provided with a plurality of hinged support plates 214, and each hinged support plate 214 is hinged to the end of the frame support rod 213.

[0030] During implementation, the truck bed frame 21 occupies a large volume when packing the farmer's vehicle 2. Therefore, the truck bed frame 21 is designed to be foldable, and the removed wheels are then fixed and locked onto the truck bed frame 21 after folding. The folded truck bed frame 21 and the accompanying wheels are placed in the cab area of ​​the farmer's vehicle 2, thereby minimizing space occupation and maximizing space utilization.

[0031] Please continue to refer to this. Figure 2 , Figure 3 and Figure 5The hydraulic cylinder 1 has sliding guide rails 10 on both sides, and toothed plates 101 are provided on the side walls of the sliding guide rails 10. Each sliding guide rail 10 also has a base support frame 3 on one side, and an electric rotary table 31 is provided on the surface of the base support frame 3. The first linear module 30 is set on the rotary table surface of the electric rotary table 31, and a clamping support frame 5 is provided on the slide of each set of the first linear module 30.

[0032] The first linear module 30 is a lead screw linear module. The lead screw linear module and the electric rotary table 31 can be the commonly used lead screw linear module and electric rotary table 31 in the prior art. Their structure and principle are common knowledge and will not be described here.

[0033] During implementation, since the tilt angle of the farmer vehicle 2's wheels may deviate slightly during the lifting process, the turntable of the electric rotary table 31 needs to be used to adjust the position of the first linear module 30, the clamping support frame 5, and all components on the clamping support frame 5 during rotation.

[0034] Please continue to refer to the reference. Figure 5 The bottom of the base support frame 3 is rotatably provided with several support rollers 32 and limiting rollers 33, and the limiting rollers 33 are in contact with the side wall of the sliding guide rail 10; the bottom of the base support frame 3 is also provided with a third drive motor 34, and the end of the rotating shaft of the third drive motor 34 is provided with a second drive gear 35 that meshes with the toothed plate 101.

[0035] During implementation, the position of the farmer's vehicle 2 changes to some extent each time it stops; simultaneously, to facilitate the transport of subsequently removed wheels to designated locations, after the farmer's vehicle 2 is lifted by the hydraulic cylinder 1, the shaft of the third drive motor 34 begins to drive the second drive gear 35 to rotate. Since the teeth of the second drive gear 35 mesh with the toothed plate 101, the reaction force between the second drive gear 35 and the toothed plate 101 during rotation pushes the entire base support frame 3 to move along the sliding guide rail 10. During movement, the support rollers 32 roll against the surface of the base plate, providing support and guidance. Since both sides of the base support frame 3 are equipped with side-wall limiting rollers 33 that engage with the sliding guide rail 10, these limiting rollers 33 not only rotate relative to the side walls of the sliding guide rail 10 during the movement of the base support frame 3, but also prevent the base support frame 3 from tilting.

[0036] Please continue to refer to the reference. Figure 3 and Figure 4Each clamping support frame 5 has several clamping rods 6 on one side for clamping onto the outer sidewall of the tire; each clamping support frame 5 also has a second linear module 7 in the middle. Each set of second linear modules 7 has a first drive motor 90 and a rotating shaft support housing 9 on its slider body 73.

[0037] Specifically, each clamping support frame 5 includes a fixed frame 51 and a rotating frame 52. Each clamping rod 6 is disposed on the side wall of the fixed frame 51. A plurality of hinge pins 510 are provided inside one side of the fixed frame 51, and a plurality of support pins 511 are provided inside the other side of the fixed frame 51. A plastic ring 61 is provided on the surface of each clamping rod 6, and the end of the clamping rod 6 is hinged to the side wall of the rotating frame 52. The plastic ring 61 not only increases friction when clamping the tire of the wheel but also prevents scratches on the wheel surface.

[0038] Each of the supporting pins 511 is hinged to the base of the first cylinder 53 at its end; the rotating frame 52 is hinged to the hinge pin 510; the rotating frame 52 is provided with a drive pin 521 inside, and the piston rod of the first cylinder 53 is hinged to the drive pin 521.

[0039] During implementation, the gaps formed between the clamping rods 6 change to clamp or release the entire wheel. Whenever the bolts on the wheel are removed and the base support frame 3 moves to the designated position, to facilitate smooth wheel removal by the user, the piston rod of the first cylinder 53 retracts, thereby applying tension to the drive pin 521. The drive pin 521 applies tension to the rotating frame 52 and all components on the rotating frame 52, as well as the vehicle, causing the rotating frame 52 to flip upwards relative to the hinge point of the hinge pin 510.

[0040] During the flipping process, the hinge pin 510 serves as a guide and limiter. After the rotating frame 52 flips to the top of the fixed frame 51, the clamping rod 6 releases its grip, allowing the user to easily remove the wheels and place them onto the folded carriage frame 21.

[0041] Please continue to refer to this. Figure 3 Each of the rotating frame 52 is provided with a second cylinder 524 and several rod support seats 525 on its side wall. The piston rod end of the second cylinder 524 is provided with a sliding support seat 526. Two clamping rods 6 located at the bottom of the rotating frame 52 are connected to the side wall of the sliding support seat 526, and each clamping rod 6 is hinged to the side wall of the rotating frame 52 or the sliding support seat 526.

[0042] During implementation, the slide of the first linear module 30 moves, adjusting the position of the clamping support frame 5. This continues until the clamping rod 6 at the top of the rotating frame 52 is in contact with the top of the wheel. Then, the piston rod of the second cylinder 524 retracts, causing the sliding support seat 526 to move upwards until the clamping rod 6 on the sliding support seat 526, in conjunction with the top clamping rod 6, completes the clamping of the wheel.

[0043] Please continue to refer to the reference. Figure 12 In this embodiment, a second drive motor 528 is also provided on the side wall of the rotating frame 52, and the shaft of the second drive motor 528 is connected to any one of the clamping rods 6. A rolling sleeve 527 is hinged inside each rod support 525, and the axis of each clamping rod 6 is perpendicular to the axis of the rolling sleeve 527. A camera support rod 512 is also provided on the fixed frame 51, and an industrial camera 513 is provided at the end of the camera support rod 512, with the camera port of the industrial camera 513 facing the wheel bolt.

[0044] During implementation, industrial camera 513 is used to capture the current position of the bolts on the wheel. If the bolts on the wheel are not in the set position, the sliding support 526 slides down slightly, causing some of the clamping rods 6 to not fully clamp the wheel. At this time, the shaft of the second drive motor 528 simultaneously drives one of the clamping rods 6 located at the top of the rotating frame 52 to rotate. This clamping rod 6 can apply friction to the wheel, causing the wheel to begin rotating and adjusting to the set position. The adjustment of the bolt position on the wheel facilitates subsequent alignment and removal.

[0045] During the rotation or clamping process of the wheel, the rolling sleeve 527 always rotates inside the rod support seat 525, thereby providing support and guidance for the wheel.

[0046] After the clamping rod 6 on the rotating frame 52 clamps the wheel, the second linear module 7 needs to adjust the position of the first drive motor 90 and the shaft support housing 9 separately to facilitate the subsequent removal of the bolts.

[0047] Please refer to Figure 4The second linear module 7 includes a slider support 71, a sliding guide rod 72, a slider body 73, a third cylinder 76, and a magnetic induction proximity switch 74. The surface of the fixed frame 51 is also provided with a support plate 54. The support plate 54 is provided with a plurality of slider support seats 71. A plurality of sliding guide rods 72 are provided between adjacent slider support seats 71. The slider body 73 is slidably mounted on the sliding guide rods 72. At least one side wall of the slider support seat 71 is connected to one side of the cylinder body of the third cylinder 76. The side wall of the slider support seat 71 is provided with a magnetic induction proximity switch 74. The piston rod end of the third cylinder 76 passes through the inside of the slider support seat 71 and is connected to the slider body 73. The slider body 73 is also provided with a fixing profile 75 fixedly connected to the rotating shaft support housing 9 and the first drive motor 90.

[0048] During implementation, the piston rod of the third cylinder 76 extends, thereby moving the slider body 73 towards the wheel. The slider body 73 slides on the sliding guide rod 72 throughout its movement, which provides support and guidance. When the slider body 73 reaches the set position, the magnetic induction proximity switch 74 detects a signal, thereby stopping the piston rod of the third cylinder 76.

[0049] During the movement of the slider body 73, the fixed profile 75 simultaneously causes the position of the rotating shaft support housing 9 and the first drive motor 90 to change.

[0050] Please continue to refer to the reference. Figure 5 and Figure 6 Each of the rotating shaft support housings 9 has a first drive gear 91 and four sets of torque transmission components 4 rotatably mounted inside. The length of each set of torque transmission components 4 changes with the deformation of the metal spring 46 on the torque transmission component 4. Each set of torque transmission components 4 is connected to the first drive gear 91. The rotating shaft of each first drive motor 90 passes through the rotating shaft support housing 9 and is connected to the first drive gear 91. Each set of torque transmission components 4 rotates as the first drive gear 91 rotates.

[0051] With this configuration, the shaft of the first drive motor 90 can simultaneously drive the first drive gear 91 to rotate during its rotation. The first drive gear 91 then drives each set of torque transmission components 4 to rotate.

[0052] Please continue to refer to the reference. Figure 7Each of the aforementioned shaft support housings 9 has a plurality of sleeve assemblies 8 inside. One end of each set of sleeve assemblies 8 has a groove for engaging with vehicle bolts, and the other end of each set of sleeve assemblies 8 passes through the interior of the torque transmission assembly 4 until it is rotatably connected to the interior of the shaft support housing 9. Each set of sleeve assemblies 8 has a sleeve boss 83 on its outer side wall. Each set of torque transmission assemblies 4 has a drive boss 47 on its outer side wall. When each set of torque transmission assemblies 4 rotates, the drive boss 47 applies a circumferential thrust to the sleeve boss 83.

[0053] Specifically, each sleeve assembly 8 includes a sleeve shaft 81 and a sleeve connector 82. A sleeve boss 83 is disposed on the outer side wall of the sleeve shaft 81. The end of the sleeve shaft 81 is threadedly connected to the sleeve connector 82. The sleeve connector 82 has a polygonal groove 821 inside. An annular limiting plate 811 is also provided on the outer side wall of the sleeve shaft 81. A columnar boss 92 extends integrally from the shaft support housing 9. A first copper sleeve 93 and a second copper sleeve 94 are respectively disposed inside the shaft support housing 9 and the columnar boss 92. The sleeve shaft 81 is disposed inside the first copper sleeve 93 and the second copper sleeve 94. One side of the annular limiting plate 811 abuts against the side wall of the first copper sleeve 93.

[0054] During implementation, the sleeve joint 82 rotates along with the sleeve shaft 81. The first copper sleeve 93 and the second copper sleeve 94 serve to lubricate and guide the sleeve shaft 81 during rotation. It should be noted that the left side of the annular limiting plate 811 abuts against the right side wall of the first copper sleeve 93, ensuring that when the subsequent torque transmission assembly 4 rotates and the drive boss 47 applies a circumferential thrust to the sleeve boss 83, the sleeve shaft 81 will not move in the axial direction; the sleeve shaft 81 can only rotate along the axial direction.

[0055] The polygonal groove 821 inside the sleeve connector 82 is used to engage with the head of the bolt. As the sleeve shaft 81 rotates, the bolt can be removed from the wheel. Because the sleeve connector 82 and the sleeve shaft 81 are detachably connected, the wear of a single sleeve connector 82 can be replaced individually.

[0056] Please continue to refer to this. Figure 6 and Figure 7 The sleeve shaft 81 and sleeve connector 82 are provided with a first air passage 84 inside, and the rotating shaft support housing 9 is also provided with a second air passage 95 that communicates with the first air passage 84. The second air passage 95 is provided with an air connector 96 inside.

[0057] With this configuration, the air connector 96 connects to an external airflow pipe. Whenever the polygonal slot 821 at the end of the sleeve connector 82 engages with the wheel bolt, the end of the sleeve shaft 81 fits tightly against the side wall of the bolt head. Then, the external airflow pipe draws gas from the first air passage 84 and the second air passage 95 through the air connector 96. This creates a vacuum negative pressure inside the first air passage 84 and the second air passage 95, allowing the external air pressure to press the disassembled bolt into the innermost part of the sleeve connector 82. This pneumatic adsorption structure prevents the disassembled bolt from scattering.

[0058] Please refer to the reference. Figure 4 The side wall of the rotating frame 52, located below the sleeve assembly 8, is also provided with a bolt guide housing 522 and a bolt collecting housing 523, the opening of which communicates with the interior of the bolt guide housing 522.

[0059] During implementation, after the bolts on the wheels are removed by the sleeve assembly 8, the piston rod of the third cylinder 76 begins to retract the slider body 73. Simultaneously, the slider body 73 retracts and adjusts the position of the rotating shaft support housing 9 and the first drive motor 90. This continues until the sleeve connector 82 is above the bolt collecting housing 523. Then, external airflow pipes blow air into the first air passage 84 and the second air passage 95 through the air passage connector 96. This causes the bolts inside the sleeve connector 82 to fall into the bolt collecting housing 523, where they roll and are collected. Workers can then quickly retrieve all the removed bolts and pack them together with the aforementioned folded carriage frame 21.

[0060] Please continue to refer to this. Figure 6 , Figure 7 and Figure 8 Each set of torque transmission components 4 includes a driven gear 41, a transmission housing 42, and a metal spring 46. The driven gear 41 and the transmission housing 42 are rotatably mounted on the surface of the sleeve assembly 8. The driven gear 41 has a first limiting ring 43 on the side facing the sleeve boss 83. The transmission housing 42 is axially movable on the sleeve assembly 8. The transmission housing 42 has a second limiting ring 44 and a third limiting ring 45 on its two sides, respectively. The metal spring 46 is engaged between the first limiting ring 43 and the second limiting ring 44. The third limiting ring 45 has a driving boss 47 inside.

[0061] The first limiting ring body 43 is provided with a plurality of limiting shafts 431 in the circumferential direction, and the second limiting ring body 44 is provided with a plurality of limiting sleeves 441 coaxial with the limiting shafts 431. The limiting shafts 431 are slidably disposed inside the limiting sleeves 441.

[0062] It is important to note that, in order for the sleeve shaft 81 to be able to smoothly remove the bolts from the wheel, the rotation direction for removing the four bolts on the wheel is the same as the rotation direction of each sleeve shaft 81 during rotation, so that all the bolts on the wheel can be removed simultaneously by the four sleeve shafts 81 during rotation.

[0063] During implementation, the rotating shaft of the first drive motor 90 can simultaneously drive the first drive gear 91 to rotate. Since the teeth on the first drive gear 91 mesh with the teeth on each driven gear 41, the first drive gear 91 drives each driven gear 41 to rotate.

[0064] During the rotation of the driven gear 41, the limiting shaft 431 on the driven gear 41 is engaged inside the limiting sleeve 441. Therefore, the force of the driven gear 41's rotation is transmitted to the limiting sleeve 441 through the limiting shaft 431, and then to the transmission housing 42 through the limiting sleeve 441. As a result, the transmission housing 42 ultimately achieves simultaneous and same-direction rotation with the driven gear 41.

[0065] During the rotation of the driven gear 41, the driving boss 47 on the third limiting ring 45 will apply a circumferential thrust to the sleeve boss 83 on the sleeve shaft 81.

[0066] Please continue to refer to the reference. Figure 13 If the torque between the bolt locked on the sleeve joint 82 and the wheel is less than or equal to the thrust of the drive boss 47 on the sleeve boss 83, the position of the transmission housing 42 will not change, and therefore the metal spring 46 will not be compressed. The drive boss 47 can normally move the sleeve boss 83, causing the sleeve boss 83, the sleeve shaft 81, and the sleeve joint 82 to rotate simultaneously, thereby removing the bolt.

[0067] If the torque between the bolt locked on the sleeve joint 82 and the wheel is greater than the thrust of the drive boss 47 on the sleeve boss 83, the drive boss 47 cannot move the sleeve boss 83 because the transmission housing 42 is still driven by the driven gear 41. At this time, the position of the transmission housing 42 will change towards the driven gear 41, and the gap between the first limiting ring 43 and the second limiting ring 44 will decrease. The metal spring 46 will be compressed, and the sleeve boss 83 will gradually fit against the drive boss 47, instead of the drive boss 47 being stuck on the side wall of the sleeve boss 83.

[0068] During the change of position of the transmission housing 42, the limiting sleeve 441 slides on the limiting shaft 431. The cooperation between the limiting sleeve 441 and the limiting sleeve 441 makes the relative position of the transmission housing 42 and the driven gear 41 the same.

[0069] Since the sleeve shaft 81 is not rotating at this time, the sleeve boss 83 is in its initial position. As the position of the transmission housing 42 continues to change, the contact between the drive boss 47 and the sleeve boss 83 gradually disappears. The drive boss 47 re-locks into the gap between the adjacent sleeve bosses 83. Under the elastic force of the metal spring 46, the drive boss 47 also applies a vibrational force to the annular limiting plate 811. This vibrational force is transmitted to the bolts of the wheel through the sleeve shaft 81 and the sleeve joint 82. This vibration process also loosens the bolts to some extent.

[0070] Since the aforementioned drive boss 47 re-engages within the gap between the adjacent sleeve bosses 83, and as the position of the transmission housing 42 continues to change, the drive boss 47 applies a circumferential thrust to the sleeve bosses 83. This cyclical reciprocating torque force generated by the first drive gear 91 on the driven gear 41 not only does not affect the normal operation of the first drive motor 90, but the driven gear 41 can also gradually remove the bolts on the wheel based on the rated torque of the first drive motor 90.

[0071] Working principle and usage of this invention: Farmer vehicle 2 drives into the work area, so that the front and rear parts of the bottom of the vehicle frame are respectively positioned between the body support plates 11 above the two sets of hydraulic cylinders 1.

[0072] When the hydraulic cylinder 1 is activated, its piston rod pushes the body support plate 11 upward. The limiting support seat 111 on the surface of the body support plate 11 and the internally hinged clamping plate 112 rise accordingly, and the silicone pad 113 on the side wall of the clamping plate 112 and the internal limiting pivot 114 initially contact the bottom of the frame.

[0073] As the lifting force increases, the clamping plate 112 flips downward under the compression of the frame until the two clamping plates 112 are parallel to each other, and their gap is adapted to the side wall of the frame. At this time, the silicone pad 113 and the limiting pivot 114 are tightly engaged with the side wall of the frame, completing the self-adaptive and stable fixation of the vehicle body.

[0074] The third drive motor 34 at the bottom of the base support frame 3 starts, driving the second drive gear 35 to mesh with the toothed plate 101 on the side wall of the sliding guide rail 10, thus moving the entire base support frame 3 along the sliding guide rail 10 (the support roller 32 rolls, and the limiting roller 33 guides), so that the clamping support frame 5 is aligned with the target wheel.

[0075] The electric rotary table 31 is started, and the angles of the first linear module 30 and the clamping support frame 5 mounted on its slide are adjusted to accommodate the possible tilt of the wheel.

[0076] The first linear module 30 is activated, driving the clamping support frame 5 to move radially, so that the clamping rod 6 at the top of the rotating frame 52 is close to the outside of the tire.

[0077] The second cylinder 524 on the side wall of the rotating frame 52 is activated, its piston rod retracts, and pulls the sliding support 526 upward, so that the bottom clamping rod 6 and the top clamping rod 6 installed on it clamp the tire together (plastic ring sleeve 61 is anti-slip and anti-scratching).

[0078] An industrial camera 513 mounted on a fixed frame 51 captures the position of the wheel bolts. If misaligned, a second drive motor 528 is activated, driving a top clamping rod 6 to rotate, using friction to fine-tune the wheel to the bolt's set position.

[0079] The third cylinder 76 is activated, pushing the slider body 73 to move along the sliding guide rod 72, which in turn drives the rotating shaft support housing 9 and the first drive motor 90 to move axially closer to the wheel until the polygonal slots 821 at the front end of the sleeve joints 82 of the four sets of sleeve assemblies 8 are precisely fitted into the four bolt heads.

[0080] The first drive motor 90 starts, driving the first drive gear 91 to rotate, which in turn drives the driven gears 41 of the four torque transmission components 4 to rotate synchronously.

[0081] Driven gear 41 transmits torque to transmission housing 42 through limiting shaft 431 and limiting bushing 441. Drive boss 47 on transmission housing 42 applies circumferential thrust to sleeve boss 83 on sleeve shaft 81, driving sleeve shaft 81 and sleeve joint 82 to rotate, and start disassembling bolts.

[0082] If the resistance torque of a bolt is too large, and the drive boss 47 cannot move the sleeve boss 83, the transmission housing 42 will compress the metal spring 46 and displace it axially, causing the drive boss 47 to slide past the current sleeve boss 83. When the metal spring 46 returns to its original position, it will strike the next sleeve boss 83, generating a high-frequency vibration force to loosen the bolt. This process is repeated until all bolts are loosened, thereby protecting the first drive motor 90 and the equipment transmission components, and preventing damage to the hub or bolts.

[0083] As the position of the transmission housing 42 continues to change, the drive boss 47 re-engages within the gap between the adjacent sleeve boss 83. Subsequently, as the position of the transmission housing 42 continues to change, the drive boss 47 applies a circumferential thrust to the sleeve boss 83. This cyclical process generates torque on the driven gear 41 from the first drive gear 91, which not only does not affect the normal operation of the first drive motor 90, but also allows the driven gear 41 to gradually remove the bolts on the wheel based on the rated torque of the first drive motor 90.

[0084] The moment the bolt is loosened, the vacuum negative pressure circuit formed by the air connector 96, the second air passage 95, and the first air passage 84 attracts the bolt into the sleeve connector 82, preventing it from falling off.

[0085] The third cylinder 76 retracts, causing the rotating shaft support housing 9 and the sleeve assembly 8 to retract to above the bolt collection housing 523. The external air circuit switches to blowing mode, blowing off the adsorbed bolts. The bolts are then guided by the bolt guide housing 522 and fall into the bolt collection housing 523 for collection.

[0086] After all bolts have been removed and collected, the slide of the first linear module 30 retracts the clamping support frame 5 and all components mounted on it. The first cylinder 53 on the clamping support frame 5 is activated, its piston rod retracts, pulling the drive pin 521, causing the entire rotating frame 52 (along with the wheel clamped by the clamping rod 6) to flip upwards around the hinge pin 510 until it reaches the top of the fixed frame 51. This flipping action separates the wheel hub from the axle.

[0087] After the wheel is flipped into place, the piston rod of the second cylinder 524 extends, the sliding support seat 526 moves down, and the bottom clamping rod 6 is released. At this time, the operator can easily remove the separated wheel from a high place, or place the wheel directly on the folded carriage frame 21 for fixing and transportation.

[0088] The piston rod of the first cylinder 53 extends, and the rotating frame 52 flips back to its original position. The first linear module 30, the electric rotary table 31, and the third drive motor 34 coordinate their actions to reset the clamping support frame 5 and the sleeve assembly 8 to their initial positions.

[0089] The farmer truck 2, after its wheels have been removed, is then packed up. The truck bed frame 21 is folded down, and the removed wheels are then secured and locked to the truck bed frame 21. The folded truck bed frame 21 and the accompanying wheels are placed in the cab area of ​​the farmer truck 2, thereby minimizing space occupation and maximizing space utilization. The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. An automatic wheel removal and installation device for a farmer's vehicle, comprising a plurality of hydraulic cylinders (1), wherein the piston rod end of each hydraulic cylinder (1) is provided with a vehicle body support plate (11), characterized in that, Several body support plates (11) are used to fit the bottom of the frame of the farmer vehicle (2); the hydraulic cylinder (1) is also provided with a base support frame (3) on both sides, and each base support frame (3) is provided with a first linear module (30) on its surface, and each set of the first linear module (30) is provided with a clamping support frame (5) on its slide; each clamping support frame (5) is provided with several clamping rods (6) on one side for clamping on the outer sidewall of the tire; each clamping support frame (5) is also provided with a second linear module (7) in the middle, and each set of the second linear module (7) is provided with a first drive motor (90) and a rotating shaft support housing (9) on its slider body (73). Each rotating shaft support housing (9) is rotatably provided with a first drive gear (91) and several torque transmission components (4). The length of each set of torque transmission components (4) varies with the deformation of the metal spring (46) on the torque transmission component (4). The torque transmission assembly (4) is connected to the first drive gear (91) in each group. The shaft of each first drive motor (90) passes through the shaft support housing (9) and is connected to the first drive gear (91). The torque transmission assembly (4) rotates with the rotation of the first drive gear (91). Each shaft support housing (9) is provided with a plurality of sleeve assemblies (8). One end of each sleeve assembly (8) is provided with a slot for locking onto the vehicle bolt. The other end of each sleeve assembly (8) passes through the interior of the torque transmission assembly (4) until it is rotatably connected to the interior of the shaft support housing (9). Each sleeve assembly (8) has a sleeve boss (83) on its outer side wall. Each torque transmission assembly (4) has a drive boss (47) on its outer side wall. When each torque transmission assembly (4) rotates, the drive boss (47) applies a circumferential thrust to the sleeve boss (83).

2. The automatic wheel removal and installation device for a farmer's vehicle according to claim 1, characterized in that, Each sleeve assembly (8) includes a sleeve shaft (81) and a sleeve connector (82). The sleeve boss (83) is disposed on the outer side wall of the sleeve shaft (81). The end of the sleeve shaft (81) is threadedly connected to the sleeve connector (82). The sleeve connector (82) has a polygonal groove (821) inside. The outer side wall of the sleeve shaft (81) is also provided with an annular limiting plate (811). The rotating shaft support housing (9) is integrally extended with a columnar boss (92). The rotating shaft support housing (9) and the columnar boss (92) are respectively provided with a first copper sleeve (93) and a second copper sleeve (94). The sleeve shaft (81) is disposed inside the first copper sleeve (93) and the second copper sleeve (94). One side of the annular limiting plate (811) abuts against the side wall of the first copper sleeve (93).

3. The automatic wheel removal and installation device for a farmer's vehicle according to claim 2, characterized in that, The sleeve shaft (81) and sleeve connector (82) are provided with a first air passage (84), and the rotating shaft support housing (9) is also provided with a second air passage (95) that communicates with the first air passage (84). The second air passage (95) is provided with an air connector (96) inside.

4. The automatic wheel removal and installation device for a farmer's vehicle according to claim 1, characterized in that, Each set of torque transmission components (4) includes a driven gear (41), a transmission housing (42), and a metal spring (46). The driven gear (41) and the transmission housing (42) are rotatably disposed on the surface of the sleeve assembly (8). The driven gear (41) is provided with a first limiting ring (43) on the side facing the sleeve boss (83). The transmission housing (42) is axially movable on the sleeve assembly (8). The transmission housing (42) is provided with a second limiting ring (44) and a third limiting ring (45) on both sides respectively. The metal spring (46) is engaged between the first limiting ring (43) and the second limiting ring (44). The third limiting ring (45) is provided with a driving boss (47) inside.

5. The automatic wheel removal and installation device for a farmer's vehicle according to claim 4, characterized in that, The first limiting ring (43) is provided with a plurality of limiting shafts (431) in the circumferential direction, and the second limiting ring (44) is provided with a plurality of limiting sleeves (441) coaxial with the limiting shafts (431). The limiting shafts (431) are slidably disposed inside the limiting sleeves (441).

6. The automatic wheel removal and installation device for a farmer's vehicle according to claim 1, characterized in that, Each of the clamping support frames (5) includes a fixed frame (51) and a rotating frame (52). Each clamping rod (6) is disposed on the side wall of the fixed frame (51). A plurality of hinge pins (510) are provided inside one side of the fixed frame (51), and a plurality of support pins (511) are provided inside the other side of the fixed frame (51). The end of each support pin (511) is hinged to the base of the first cylinder (53). The rotating frame (52) is hinged to the hinge pins (510). A drive pin (521) is provided inside the rotating frame (52), and the piston rod of the first cylinder (53) is hinged to the drive pin (521). The side wall of the rotating frame (52) located below the sleeve assembly (8) is also provided with a bolt guide housing (522) and a bolt collection housing (523). The opening of the bolt collection housing (523) communicates with the interior of the bolt guide housing (522).

7. The automatic wheel removal and installation device for a farmer's vehicle according to claim 6, characterized in that, Each of the rotating frames (52) has a second cylinder (524) and several rod support seats (525) on its side wall. The piston rod end of the second cylinder (524) is provided with a sliding support seat (526). At least one clamping rod (6) is provided on the sliding support seat (526). Each clamping rod (6) has a plastic ring sleeve (61) on its surface. Each clamping rod (6) is hinged to the side wall of the rotating frame (52) or the sliding support seat (526). The internal hinge of each rod support seat (525) is... A rolling sleeve (527) is connected, and the axis of each clamping rod (6) is perpendicular to the axis of the rolling sleeve (527); a second drive motor (528) is also provided on the side wall of the rotating frame (52), and the shaft of the second drive motor (528) is connected to any one of the clamping rods (6); a camera support rod (512) is also provided on the fixed frame (51), and an industrial camera (513) is provided at the end of the camera support rod (512), with the camera port of the industrial camera (513) facing the wheel bolt.

8. The automatic wheel removal and installation device for a farmer's vehicle according to claim 6, characterized in that, The first linear module (30) is a lead screw linear module. The second linear module (7) includes a slider support seat (71), a sliding guide rod (72), a slider body (73), a third cylinder (76), and a magnetic induction proximity switch (74). The surface of the fixed frame (51) is also provided with a support plate (54). The support plate (54) is provided with a plurality of slider support seats (71). A plurality of sliding guide rods (72) are provided between adjacent slider support seats (71). The slider body (73) is slidably provided on the sliding guide rod (72). At least one side wall of the slider support seat (71) is connected to one side of the cylinder body of the third cylinder (76). The side wall of the slider support seat (71) is provided with a magnetic induction proximity switch (74). The piston rod end of the third cylinder (76) passes through the inside of the slider support seat (71) and is connected to the slider body (73). The slider body (73) is also provided with a fixed profile (75) connected to the rotating shaft support housing (9).

9. The automatic wheel removal and installation device for a farmer's vehicle according to claim 8, characterized in that, The hydraulic cylinder (1) is provided with sliding guide rails (10) on both sides, and the sliding guide rails (10) are provided with toothed plates (101) on the side walls; the base support frame (3) is provided with an electric rotary table (31), the first linear module (30) is provided on the rotary table surface of the electric rotary table (31), and the bottom of the base support frame (3) is provided with a number of support rollers (32) and limit rollers (33) that can rotate, and the limit rollers (33) are attached to the side walls of the sliding guide rails (10); the bottom of the base support frame (3) is also provided with a third drive motor (34), and the shaft end of the third drive motor (34) is provided with a second drive gear (35) that meshes with the toothed plate (101).

10. The automatic wheel removal and installation device for a farmer's vehicle according to any one of claims 1 to 9, characterized in that, The farmer's vehicle (2) is provided with a carriage frame (21), which includes an upper frame (211), a lower frame (212) and several frame support rods (213). The connecting ends of the frame support rods (213) are hinged. Several hinge support plates (214) are provided on both the upper frame (211) and the lower frame (212). Each hinge support plate (214) is hinged to the end of the frame support rod (213). Several limiting support seats (111) are provided on the surface of each vehicle body bearing plate (11). A card plate (112) is hinged inside each limiting support seat (111). A silicone pad (113) is provided on the side wall of the card plate (112), and a limiting pivot (114) is provided inside the card plate (112) that can rotate.

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