Tire transfer mechanism and tire transfer method

Abstract

The application discloses a tire moving mechanism and a tire moving method, which comprise a connecting seat connected with an end effector of an external mechanical arm, at least three groups of telescopic assemblies arranged in a central symmetry on the connecting seat, and a driving assembly for driving all the telescopic assemblies to synchronously telescopically extend and retract. The telescopic assembly is provided with a groove on the outer side. The groove comprises a side wall, a top wall connected with the upper end of the side wall, and a bottom wall connected with the lower end of the side wall. When the tire is moved, the top wall and the bottom wall are located at the outer side and the inner side of the tire bead respectively, and the bottom wall supports the inner wall of the tire bead. The application has the advantages that the tire is supported by one of the side walls when the tire is extracted, and the inner wall of the tire bead is supported by the bottom wall when the tire is moved after being turned over. The tire is less damaged when the tire is moved by the device, and the device is especially suitable for tires of injection molding, a coated surface or a soft material, so that the structural integrity and the appearance quality of the tire are protected to the maximum extent.

Description

Technical Field

[0001] This invention relates to the field of tire transfer, specifically to a tire transfer mechanism and a tire transfer method. Background Technology

[0002] In the tire manufacturing process, injection-molded tires (green tires, not fully hardened) need to undergo multiple automated transfer processes, including conveying, extraction, and flipping. Typically, tires are transported on the conveyor line with their center axis parallel to the ground (i.e., the tread is in contact with the conveyor line). However, in subsequent stacking or storage processes, the tires often need to be flipped to an upright position with their center axis perpendicular to the ground to facilitate stacking or placement on storage fixtures. Currently, most common tire transfer devices after injection molding employ a clamping gripper structure. This type of device uses multiple radially extendable clamping arms that extend into the center hole of the tire and then expand outwards, internally clamping the tire tread or bead sidewalls, using the clamping force to lift and transport the tire. For example, some industrial robotic arms are equipped with three- or four-jaw clamping mechanisms at the end, using cylinders or motors to drive clamping blocks to press against the inner wall of the tire, thus completing the gripping process. However, existing clamping transfer mechanisms have the following shortcomings in practical applications: First, the tightening method will apply radial expansion force to the inner wall of the tire, which can easily leave indentations, scratches or even local deformation on the tire rubber surface. This damage will directly affect the appearance and quality of the product, especially for injection-molded tires or tires with a coating on the surface. Secondly, when it is necessary to flip the tire from a flat position to an upright position, the tensioning mechanism relies on friction to maintain grip. During the flipping process, the tire may slip or fall off, posing a safety hazard.

[0003] Therefore, it is necessary to provide a tire transfer mechanism and a tire transfer method. Summary of the Invention

[0004] The present invention provides a tire transfer mechanism and tire transfer method, which effectively solves the problems of damage to the tire tread and unstable transfer caused by existing transfer mechanisms when transferring tires.

[0005] The technical solution adopted in this invention is: a tire transfer mechanism, including a connecting seat connected to the end effector of an external robotic arm, and at least three sets of telescopic components arranged symmetrically on the connecting seat, and a drive component for driving all telescopic components to extend and retract synchronously. The telescopic components are provided with grooves on their outer sides, and the grooves include sidewalls, a top wall connecting the upper end of the sidewalls, and a bottom wall connecting the lower end of the sidewalls. When transferring the tire, the top wall and the bottom wall are located on the outer and inner sides of the tire bead, respectively, and the bottom wall supports the inner wall of the tire bead.

[0006] Furthermore, the telescopic assembly includes a linear guide rail fixedly mounted on the connecting seat, a sliding seat slidably mounted on the linear guide rail, a fixed block fixedly mounted on the sliding seat, and a plastic block mounted on the fixed block. The top wall and bottom wall are mounted on the fixed block, and the outer side of the plastic block is a side wall.

[0007] Furthermore, the upper and lower surfaces of the plastic block abut against the top and bottom walls, respectively.

[0008] Furthermore, the outer side of the plastic block is an arc-shaped surface adapted to the inner circle of the tire.

[0009] Furthermore, the drive assembly includes several drive pulleys respectively disposed on the connecting seat and located at one end of the linear guide rail, several belt clamps, several tension pulleys alternately disposed with the telescopic assembly, a reduction motor disposed on the connecting seat for driving one of the drive pulleys, and a synchronous belt connected to the drive pulleys and tension pulleys. The synchronous belt is fixedly connected to the sliding seat through belt clamps.

[0010] Furthermore, the fixing block is bolted to the sliding seat.

[0011] Furthermore, the telescopic components are in three groups, and the three groups of telescopic components are centrally symmetrical.

[0012] Furthermore, the plastic block is bolted to the fixing block.

[0013] Furthermore, the connecting seat is also equipped with a sensor for monitoring the telescopic displacement of the telescopic component.

[0014] The tire transfer method, employing the aforementioned tire transfer mechanism, includes the following steps: S1. Material preparation: The drive assembly drives all telescopic components to retract inward synchronously, so that each telescopic component retracts to a position that can be inserted into the center hole of the tire. S2, Insert into the center hole of the tire: The external robotic arm drives the connecting seat to move, so that each telescopic component extends from one side of the tire into the center hole of the tire. At this time, the tire tread is placed on the conveyor line and the tire's central axis is parallel to the ground. S3, Telescopic components expand outward to the material picking position: The drive component drives all telescopic components to expand outward synchronously until the top wall and bottom wall of each telescopic component are located on the outer and inner sides of the corresponding tire bead, respectively; S4. Tire extraction: The external robotic arm drives the connecting seat to rise, and the tire is lifted off the conveyor line and suspended in the air by the side wall of the highest groove on the inner edge of the tire bead. At this time, the bottom wall has not yet exerted a lifting force on the inner wall of the tire bead. S5, Tire Tilting: The external robotic arm drives the connecting seat to rotate, changing the tire's centerline from parallel to the ground to perpendicular to the ground. During and after the rotation, the bottom wall supports the inner wall of the tire bead from below. S6. Tire placement: The external robotic arm moves the connecting seat to move the tire above the placement platform and then lowers it so that the tire lands on the placement platform. S7. Disengagement from the tire: The drive assembly drives all telescopic components to retract inward synchronously, causing the bottom wall to detach from the inner wall of the tire bead. Subsequently, the external robotic arm drives the connecting seat to move upward out of the center hole of the tire.

[0015] Beneficial effects of the invention: 1. The tire transfer mechanism of this application supports the tire through one of its side walls when extracting the tire and supports the inner wall of the tire bead through the bottom wall when transferring a tumbled tire, instead of using a tightening method to support the inner wall of the tire. Using the equipment of this application to transfer tires causes less damage to the tire, and is especially suitable for injection-molded tires, tires with coatings or soft materials, thus protecting the structural integrity and appearance quality of the tire to the greatest extent.

[0016] 2. By synchronously adjusting the radial extension stroke of all telescopic components through the drive assembly, the top and bottom walls can accurately adapt to the center holes and bead positions of tires of different sizes, significantly improving the versatility and production efficiency of the equipment.

[0017] 3. At least three sets of centrally symmetrical telescopic components are used to form a three-point stable support; at the same time, a phased support design of "side wall support first, bottom wall support later" is adopted: during extraction, the inner edge of the tire bead is supported by the side wall, and after flipping, it automatically switches to the bottom wall supporting the inner wall of the tire bead from below. This not only eliminates the risk of tire slippage during flipping, but also ensures the rationality of force under both horizontal extraction and vertical placement postures, and guarantees the continuity and stability of the transfer process.

[0018] 4. By setting up plastic blocks, it is possible to ensure that the sidewalls are in flexible contact with the tire when bearing the load, thereby reducing the compression on the tire and reducing the risk of deformation of the newly injection-molded tire. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a tire transfer mechanism provided for an embodiment of this application.

[0020] Figure 2 This is a schematic diagram of a tire transfer mechanism provided in an embodiment of this application extracting a tire placed on a conveyor line.

[0021] Figure 3 This is a schematic diagram of a tire transfer mechanism provided in an embodiment of this application, showing the tire being laid flat.

[0022] The following are labeled in the diagram: 1. Connecting seat; 2. Telescopic component; 3. Drive component; 20. Groove; 201. Side wall; 202. Top wall; 203. Bottom wall; 21. Linear guide rail; 22. Sliding seat; 23. Fixing block; 24. Plastic block; 31. Drive pulley; 32. Belt clamp; 33. Tensioning pulley; 34. Gear motor; 4. Sensor; 5. Tire; 51. Tire bead. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] like Figure 1 , Figure 2 and Figure 3 As shown, the first embodiment of this application provides a tire transfer mechanism. Its structure includes a connecting base 1 connected to the end effector of an external robotic arm, and at least three sets of telescopic components 2 arranged centrally symmetrically on the connecting base 1, and a drive component 3 for synchronously extending and retracting all telescopic components 2. The telescopic components 2 have grooves 20 on their outer sides. Each groove 20 includes a sidewall 201, a top wall 202 connecting to the upper end of the sidewall 201, and a bottom wall 203 connecting to the lower end of the sidewall 201. When transferring the tire 5, the top wall 202 and bottom wall 203 are located on the outer and inner sides of the tire bead 51, respectively. The bottom wall 203 supports the inner wall of the tire bead 51. This application uses a PLC control system to control the drive component 3.

[0025] In actual use, the tread of the injection-molded tire 5 is placed on the conveyor line (the central axis of the tire 5 is parallel to the ground). The drive assembly 3 first drives each telescopic component 2 to retract. Then, the external robotic arm can drive the tire 5 transfer mechanism of this application to move, so that each telescopic component 2 extends into the center hole of the tire 5. Then, the drive assembly 3 drives each telescopic component 2 to move outward along the center, so that the top wall 202 and the bottom wall 203 are respectively located on both sides of the tire bead 51. Then, the drive assembly 3 drives the tire 5 transfer mechanism of this application to rise and remove the tire 5 from the conveyor line. The tire 5 is lifted from the air (during this process, the side wall 201 of the uppermost telescopic component 2 supports the tire 5). Then, the drive component 3 drives the tire 5 transfer mechanism of this application to flip the tire 5 flat (i.e., the central axis of the tire 5 is perpendicular to the ground). After being flattened, the tire 5 is supported by the bottom wall 203. Then, the external robotic arm drives the entire tire 5 transfer mechanism of this application to place the tire 5 on the placement platform. Then, the drive component 3 drives each telescopic component 2 to retract. Then, the external robotic arm drives the tire 5 transfer mechanism of this application to detach from the tire 5.

[0026] In the above design, the structural design and specific implementation of the tire transfer mechanism enable the tire 5 to bear the weight through one of the side walls 201 when the tire 5 is extracted, and to support the inner wall of the tire bead 51 through the bottom wall 203 when the tire 5 is transferred, instead of using a tightening method to support the inner wall of the tire 5. Using the equipment of this application to transfer the tire 5 causes less damage to the tire 5, and the shrinkage component can be adapted to tires 5 of different diameters, making it highly versatile.

[0027] Specifically: such as Figure 1 As shown, the telescopic component 2 includes a linear guide rail 21 fixedly mounted on the connecting seat 1, a sliding seat 22 slidably mounted on the linear guide rail 21, a fixing block 23 fixedly mounted on the sliding seat 22, and a plastic block 24 mounted on the fixing block 23. The top wall 202 and the bottom wall 203 are mounted on the fixing block 23, and the outer side of the plastic block 24 is a side wall 201.

[0028] In actual use, the sliding seat 22 is driven by the drive component 3 to slide along the linear guide rail 21, causing the sliding seat 22 to move the fixed block 23 and the plastic block 24 synchronously. This allows the fixed block 23 to move the plastic block 24 to a position where it can be inserted into or removed from the tire 5. When the tire 5 needs to be lifted from the conveyor line, the plastic block 24 in the uppermost groove 20 participates in load-bearing. When the tire 5 is laid flat, none of the plastic blocks 24 participate in load-bearing, but instead form flexible contact with the outer edge of the tire bead 51, serving only as auxiliary positioning and buffering. At this time, the tire 5 is supported by the bottom wall 203 set on the fixed block 23.

[0029] In the above design, the telescopic component 2 is structurally designed with a linear guide rail 21 connected to a sliding seat 22, which allows for precise control of the movement direction of the fixed block 23 and low friction during movement, ensuring consistent movement of multiple telescopic components 2 during synchronous telescopic extension and retraction. The plastic block 24 ensures flexible contact with the tire 5 when bearing weight, preventing excessive compression and damage to the tire 5.

[0030] Specifically: such as Figure 1 As shown, the upper and lower surfaces of the plastic block 24 abut against the top wall 202 and the bottom wall 203, respectively.

[0031] In actual use, when the plastic block 24 is bearing weight, its two ends abut against the top wall 202 and the bottom wall 203 respectively, ensuring that there are no gaps between the plastic block 24 and the top and bottom walls 202 and 203, thus preventing the plastic block 24 from getting stuck with the tire bead 51 due to gaps. When the plastic block 24 is not bearing weight, it can position the tire bead 51. The abutment of its two ends against the top and bottom walls 202 and 203 respectively prevents inaccurate positioning due to gaps.

[0032] In the above design, the design of the plastic block 24 can ensure that there are no gaps in the entire groove 20, preventing the tire 5 from getting stuck in the gap or the tire 5 from being inaccurately positioned during the movement of the tire 5.

[0033] Specifically: such as Figure 2 As shown, the outer side of the plastic block 24 is an arc-shaped surface that matches the inner circle of the tire 5.

[0034] In actual use, when the telescopic component 2 enters the center hole of the tire 5 and expands, the arc-shaped plastic block 24 forms an arc-shaped contact with the inner wall 201 of the tire bead 51.

[0035] In the above design, the arc-shaped contact surface, compared to a flat or edge contact surface, can distribute the pressure more evenly between the contact surface and the sidewall 201 of the bead 51, avoiding localized stress concentration. At the same time, the arc-shaped structure better conforms to the natural shape of the inner wall of the tire 5, which helps to maintain the stability of the tire 5's posture during rollover and transfer.

[0036] Specifically: such as Figure 1 As shown, the drive assembly 3 includes several drive pulleys 31 respectively disposed on the connecting seat 1 and located at one end of the linear guide rail 21, several belt clamps 32, several tension pulleys 33 alternately disposed with the telescopic assembly 2, a reduction motor 34 disposed on the connecting seat 1 for driving one of the drive pulleys 31, and a synchronous belt that is connected to the drive pulleys 31 and the tension pulleys 33. The synchronous belt is fixedly connected to the sliding seat 22 through the belt clamps 32.

[0037] In actual use, the geared motor 34 drives one drive pulley 31 to rotate, which in turn drives the other drive pulleys 31 and tension pulley 33 to rotate synchronously via the synchronous belt. During the movement, the synchronous belt drives each sliding seat 22 to slide synchronously along the linear guide rail 21 through the belt clip 32 fixed on it, thereby realizing the simultaneous extension and retraction of all telescopic components 2.

[0038] In the above design, the drive assembly 3 adopts a synchronous belt drive, which can ensure that the multiple telescopic components 2 extend and retract completely synchronously in the circumferential direction, avoiding tire 5 eccentricity or jamming due to inconsistent actions. The tension pulley 33 can adjust the tension of the synchronous belt, resulting in smooth transmission, low noise, and a compact structure, making it suitable for installation in the limited space of the connecting seat 1.

[0039] Specifically: the fixing block 23 is bolted to the sliding seat 22.

[0040] In actual use, the fixing block 23 is fixed to the sliding seat 22 by bolts and can move with the sliding seat 22.

[0041] In the above design, the bolt connection facilitates quick disassembly and replacement of fixing blocks 23 of different sizes to accommodate tires 5 of different diameters or thicknesses.

[0042] Specifically: such as Figure 1 and Figure 2 and Figure 3 As shown, the telescopic component 2 consists of three groups, and the three groups of telescopic components 2 are centrally symmetrical.

[0043] In actual use, the three sets of telescopic components 2 are evenly distributed at a 120° angle on the connecting seat 1, and expand outward or contract inward synchronously. During load transfer, the bottom walls 203 on the three fixed blocks 23 simultaneously support the inner wall of the tire bead 51 from three directions, forming a three-point support.

[0044] In the above design, the three-point centrally symmetrical structure is one of the most stable support methods. It ensures that the tire 5 will not tilt or wobble during the transfer process, and avoids the swaying that may occur with two-point support or the over-positioning problem caused by four-point support. At the same time, the three sets of structures simplify the drive and control system while meeting the requirements of stable load bearing.

[0045] Specifically: the plastic block 24 is bolted to the fixing block 23. The fixing block 23 is provided with a screw hole, and the plastic block 24 is provided with a through hole. The bolt passes through the through hole and is threadedly connected to the screw hole.

[0046] In actual use, the plastic block 24 can be replaced according to actual needs. When replacing, remove the bolt, replace the appropriate plastic block 24, and then tighten the bolt, plastic block 24, and fixing block 23 again.

[0047] In the above design, the plastic block 24 is bolted to the fixing block 23 to facilitate the replacement of the plastic block 24.

[0048] Specifically: such as Figure 1 As shown, the connecting base 1 is also equipped with a sensor 4 for monitoring the telescopic displacement of the telescopic assembly 2. The number of sensors 4 can be multiple; for example, one may detect the position of the fixing block 23 or the sliding seat 22 when the tire 5 is clamped, and another may detect the position of the fixing block 23 or the sliding seat 22 when the telescopic assembly 2 extends into or removes from the tire 5. The sensor 4 can be a photoelectric sensor or an inductive proximity switch.

[0049] In actual use, the position signal of the sliding seat 22 or the fixed block 23 is detected by the sensor 4 and fed back to the PLC control system. The PLC control system determines whether the telescopic component 2 has reached the retracted or expanded position based on the signal from the sensor 4, and then controls the start and stop of the drive component 3.

[0050] In the above design, closed-loop monitoring of telescopic displacement is achieved through sensor 4, which can prevent the telescopic component 2 from over-contracting or over-expanding and damaging the tire 5 or the mechanism. Simultaneously, it can automatically adapt to tires 5 of different diameters, and stops driving when sensor 4 detects a fault, improving the automation level and operational safety of the equipment.

[0051] The second embodiment provided in this application is a tire transfer method, which uses the aforementioned tire transfer mechanism and includes the following steps: S1. Material preparation: Drive component 3 drives all telescopic components 2 to retract inward synchronously, so that each telescopic component 2 retracts to a position that can be inserted into the center hole of tire 5. S2, Insert into the center hole of the tire: The external robotic arm drives the connecting seat 1 to move, so that each telescopic component 2 extends from one side of the tire 5 into the center hole of the tire 5. At this time, the tread of the tire 5 is placed on the conveyor line and the central axis of the tire 5 is parallel to the ground. S3, Telescopic component 2 expands outward to the material picking position: Drive component 3 drives all telescopic components 2 to expand outward synchronously until the top wall 202 and bottom wall 203 on each telescopic component 2 are located on the outer and inner sides of the corresponding tire bead 51, respectively. S4, Tire extraction: The external robotic arm drives the connecting seat 1 to rise, and the tire 5 is lifted off the conveyor line and suspended by the inner edge of the tire bead 51 through the side wall 201 of the highest groove 20. At this time, the bottom wall 203 has not yet generated a lifting force on the inner wall of the tire bead 51. S5, Tire rotation: The external robotic arm drives the connecting seat 1 to rotate, so that the center axis of the tire 5 changes from being parallel to the ground to being perpendicular to the ground. During and after the rotation, the bottom wall 203 supports the inner wall of the tire bead 51 from below. S6. Tire placement: The external robotic arm drives the connecting seat 1 to move the tire 5 above the placement platform and then lowers it so that the tire 5 falls onto the placement platform. S7. Disengagement from the tire: The drive assembly 3 drives all telescopic components 2 to retract inward synchronously, causing the bottom wall 203 to detach from the inner wall of the tire bead 51. Subsequently, the external robotic arm drives the connecting seat 1 to move upward out of the center hole of the tire 5.

[0052] In the above design, during the tire 5 extraction stage, the sidewall 201 supports the inner edge of the tire bead 51 of the tire 5, allowing the tire 5 to smoothly leave the conveyor line and avoiding the scratch damage that may be caused by the bottom wall 203 directly extending into the support. After the flipping is completed and the centerline of the tire 5 is turned perpendicular to the ground (S5), the supporting part automatically switches to the bottom wall 203, which stably supports the inner wall of the tire bead 51 from below. This eliminates the risk of the tire 5 slipping during the flipping process and ensures reasonable force and accurate placement in a vertical posture. By employing a phased support design of "supporting the sidewall 201 first and then the bottom wall 203," this method can adapt to the optimal force distribution under both horizontal extraction and vertical placement postures, reducing frictional damage to the inner wall of the bead 51. Compared to the tightening method that internally supports the tread of the tire 5 or the sidewall 201 of the bead 51, this method only applies an upward supporting force to the inner wall of the bead 51, without generating radial expansion force. It is less likely to leave indentations, scratches, or even cause deformation of the bead 51 on the rubber surface, thereby maximizing the protection of the structural integrity and surface quality of the tire 5. It is especially suitable for injection-molded tires 5 with coatings or soft rubber materials.

[0053] In further detail, it should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tire transfer mechanism, comprising a connecting base (1) connected to the end effector of an external robotic arm, characterized in that: It also includes at least three sets of telescopic components (2) arranged symmetrically on the connecting seat (1) and a drive component (3) for driving all telescopic components (2) to telescopically extend and retract synchronously. The telescopic components (2) are provided with a groove (20) on the outside. The groove (20) includes a side wall (201), a top wall (202) connecting the upper end of the side wall (201) and a bottom wall (203) connecting the lower end of the side wall (201). When the tire (5) is transferred, the top wall (202) and the bottom wall (203) are located on the outside and inside of the tire bead (51) respectively. The bottom wall (203) supports the inner wall of the tire bead (51).

2. The tire transfer mechanism according to claim 1, characterized in that: The telescopic assembly (2) includes a linear guide rail (21) fixedly mounted on the connecting seat (1), a sliding seat (22) slidably mounted on the linear guide rail (21), a fixing block (23) fixedly mounted on the sliding seat (22), and a plastic block (24) mounted on the fixing block (23). The top wall (202) and bottom wall (203) are mounted on the fixing block (23), and the outer side of the plastic block (24) is a side wall (201).

3. The tire transfer mechanism according to claim 2, characterized in that: The upper and lower surfaces of the plastic block (24) abut against the top wall (202) and the bottom wall (203), respectively.

4. The tire transfer mechanism according to claim 2, characterized in that: The outer side of the plastic block (24) is an arc-shaped surface that matches the inner circle of the tire (5).

5. The tire transfer mechanism according to claim 2, characterized in that: The drive assembly (3) includes several drive pulleys (31) respectively disposed on the connecting seat (1) and located at one end of the linear guide rail (21), several belt clips (32), several tension pulleys (33) alternately disposed with the telescopic assembly (2), a reduction motor (34) disposed on the connecting seat (1) for driving one of the drive pulleys (31) to drive the transmission, and a synchronous belt that is connected to the drive pulleys (31) and tension pulleys (33) for transmission. The synchronous belt is fixedly connected to the sliding seat (22) through the belt clips (32).

6. The tire transfer mechanism according to claim 2, characterized in that: The fixing block (23) is bolted to the sliding seat (22).

7. The tire transfer mechanism according to claim 1, characterized in that: The telescopic components (2) are in three groups, and the three groups of telescopic components (2) are centrally symmetrical.

8. The tire transfer mechanism according to claim 2, characterized in that: The plastic block (24) is bolted to the fixing block (23).

9. The tire transfer mechanism according to claim 1, characterized in that: The connecting seat (1) is also equipped with a sensor (4) for monitoring the telescopic displacement of the telescopic component (2).

10. A tire transfer method, employing the tire transfer mechanism according to any one of claims 1 to 9, characterized in that: Includes the following steps: S1. Material preparation: The drive assembly (3) drives all telescopic assemblies (2) to retract inward synchronously, so that each telescopic assembly (2) retracts to a position that can be inserted into the center hole of the tire (5); S2, Insert into the center hole of the tire: The external robotic arm drives the connecting seat (1) to move, so that each telescopic component (2) extends from one side of the tire (5) into the center hole of the tire (5). At this time, the tread of the tire (5) is placed on the conveyor line and the central axis of the tire (5) is parallel to the ground. S3, the telescopic components expand outward to the material picking position: the drive component (3) drives all telescopic components (2) to expand outward synchronously until the top wall (202) and bottom wall (203) on each telescopic component (2) are located on the outside and inside of the corresponding tire bead (51), respectively; S4, Tire extraction: The external robotic arm drives the connecting seat (1) to rise, and the side wall (201) of the highest groove (20) supports the inner edge of the tire bead (51) of the tire (5) so that the tire (5) is lifted off the conveyor line and suspended in the air. At this time, the bottom wall (203) has not yet generated a supporting force on the inner wall of the tire bead (51). S5, Tire flipping: The external robotic arm drives the connecting seat (1) to flip, so that the central axis of the tire (5) changes from being parallel to the ground to being perpendicular to the ground. During the flipping process and after the flipping is completed, the bottom wall (203) supports the inner wall of the tire bead (51) from below. S6, Tire placement: The external robotic arm drives the connecting seat (1) to move the tire (5) above the placement platform and lower it, so that the tire (5) falls on the placement platform; S7. Disengagement from the tire: The drive assembly (3) drives all telescopic assemblies (2) to retract inward synchronously, causing the bottom wall (203) to detach from the inner wall of the tire bead (51). Subsequently, the external robotic arm drives the connecting seat (1) to move upward out of the center hole of the tire (5).

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