Tire holding arm driving system for vertical tire disassembly and assembly robot

Abstract

The utility model relates to the technical field of automobile maintenance devices, and discloses a tire embracing arm driving system for a vertical tire disassembly and assembly robot, which comprises a robot support control device, a hub driving device, a tire embracing arm device, an automobile hub and an automobile cover tyre, the tire embracing arm device is installed at the position opposite to the hub driving device and fixed to the robot supporting control device, a servo motor is arranged to drive a driver, an automobile cover tire embracing arm extends into the driver, and when the driver is driven, the automobile cover tire embracing arm can be driven by the servo motor. The driving power can be synchronously transmitted to all the automobile outer tire holding arms, so that the automobile outer tire holding arms synchronously expand or contract with the center of the driver as the original point, compared with independent control of multiple control points, the accuracy is high, and the axis can be kept unchanged when the inner edge of an automobile outer tire is expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile maintenance devices, and particularly relates to a tire clamping arm drive system for a vertical tire dismounting and mounting robot. Background Technique

[0002] An automobile tire consists of a wheel hub and a tire tread. The tire tread is a vulnerable part. During long-term driving of the automobile, it is prone to breakage due to reasons such as aging and damage. At this time, it is necessary to disassemble the tire tread of the automobile tire for replacement or repair.

[0003] The Chinese patent publication number: CN 113103832 B discloses an invention patent named "A Vertical Tire Dismounting and Mounting Robot", including: a vertical frame; a main shaft relatively horizontally arranged at a position near the middle of the frame, which can rotate around an axis and / or extend and retract along the axis direction; a dismounting and mounting manipulator movably connected to the frame through a robotic arm, used to insert between the tire and the rim, grab the edge of the tire, and the end is a hook-shaped structure; at least two groups are provided, distributed on the front and rear sides of the tire, and used to push and press the front and rear surface of the tire; at least one group moves in the relative horizontal and / or vertical directions, and is used to limit and / or hold the tire; a driving device for realizing the movement of the main shaft, the dismounting and mounting manipulator, the pressing wheel and the tire clamping arm.

[0004] The above invention has a simple structure, small floor area, convenient operation, can realize the full-automatic dismounting and mounting of tires, and can effectively reduce the working intensity and technical requirements of operators, improving the efficiency of dismounting and mounting tires.

[0005] However, its dismounting device for the tire tread is driven by multiple independent telescopic rods. Simply put, multiple tire clamping arms work independently. Once one or several clamping arms do not work synchronously, the axis of the entire tire tread will shift, resulting in difficulties in removing the automobile tire tread and being prone to damage the automobile tire tread.

[0006] Therefore, a tire clamping arm drive system for a vertical tire dismounting and mounting robot is proposed to enable multiple tire clamping arms to work synchronously and maintain the consistency of the axis of the automobile tire tread. Content of the Utility Model

[0007] The purpose of the utility model is to provide a tire clamping arm drive system for a vertical tire dismounting and mounting robot to solve the problems raised in the above background technique.

[0008] To solve the above technical problems, the present utility model provides the following technical solution: A tire clamping arm drive system for a vertical tire dismounting and mounting robot, comprising a robot support control device, a wheel hub drive device, a tire clamping arm device, an automotive wheel hub and an automotive outer tire. The wheel hub drive device is installed on the side of the robot support control device, and the tire clamping arm device is installed at a relative position to the wheel hub drive device and is fixed on the robot support control device;

[0009] The wheel hub drive device fixes the automotive wheel hub, and the tire clamping arm device clamps and expands the inner edge of the automotive outer tire, so that the automotive outer tire is disengaged from the outer surface of the automotive wheel hub;

[0010] The tire clamping arm device includes a servo motor and a driver. Both the servo motor and the driver are fixed on the robot support control device, and the servo motor drives the driver;

[0011] A plurality of automotive outer tire clamping arms are installed inside the driver, and the plurality of automotive outer tire clamping arms are synchronously pulled by the driver to move;

[0012] The circuit of the servo motor is led to the inside of the robot support control device, and the servo motor is controlled by the robot support control device.

[0013] Preferably, the driver includes a protective shell and a sealing rear cover. The protective shell and the sealing rear cover are connected together by bolts. A plurality of guide grooves are provided on the surface of the protective shell facing the wheel hub drive device, and the automotive outer tire clamping arms penetrate through the guide grooves and extend into the interior of the protective shell;

[0014] The outer surface of the protective shell is fixedly connected to the robot support control device. A transmission disc is installed inside the driver. The axis of the transmission disc is fixedly connected to the output shaft of the servo motor. The transmission disc is driven by the servo motor to rotate, and the transmission disc drives the automotive outer tire clamping arms to move synchronously.

[0015] Preferably, the automotive outer tire clamping arm includes a support arm claw. A driving slider is fixedly connected to the end of the support arm claw. A track groove is provided on the surface of the driving slider close to the transmission disc. The track groove meshes with the surface of the transmission disc and is driven.

[0016] Preferably, a spiral transmission strip is provided on the surface of the transmission disc facing the driving slider, and the spiral transmission strip extends into the track groove;

[0017] The track groove is an arc groove.

[0018] Preferably, limiting sliding grooves are provided on both sides of the guide groove. The length of the limiting sliding groove is equal to the length of the guide groove. Limiting sliders are fixedly connected to both sides of the driving slider;

[0019] The limiting slider extends into the limiting chute and is limited.

[0020] Preferably, a wavy groove is provided at the contact end of the support arm claw with the automobile outer tire, and the bending parts of the wavy groove are all arc chamfers.

[0021] Preferably, a wiring groove and a support cross beam are respectively installed on the robot support control device, and the wire of the servo motor is led from the inside of the wiring groove to the inside of the robot support control device;

[0022] The support cross beam is installed at the bottom of the automobile outer tire holding arm.

[0023] Compared with the prior art, the beneficial effects achieved by the present utility model are as follows:

[0024] First, the present utility model drives the driver by setting a servo motor, and makes the automobile outer tire holding arm extend into the inside of the driver. When the driver is driven, the driving force will be synchronously transmitted to all the automobile outer tire holding arms, so that the automobile outer tire holding arms expand or contract synchronously with the center of the driver as the origin. Compared with the individual control of multiple control points, it has high accuracy, and can keep the axis unchanged when the inner edge of the automobile outer tire is expanded.

[0025] Second, the present utility model drives all the driving sliders to displace by setting the cooperation of a transmission disc and an orbital groove. Thus, every time the transmission disc rotates, the moving distances of all the support arm claws are equal, and the transmission disc can realize the expansion and contraction of the support arm claws through forward rotation and reverse rotation, achieving the effects of convenient control and accurate movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of clamping the automobile outer tire by the structure of the present utility model;

[0027] Figure 2 Schematic diagram of the structure of the present utility model;

[0028] Figure 3 Explosion diagram of the tire holding arm device of the present utility model;

[0029] Figure 4 Cross-sectional view of the driver structure of the present utility model;

[0030] Figure 5 Schematic diagram of the connection between the transmission disc and the driving slider of the present utility model;

[0031] Figure 6 Schematic diagram of the structure of the automobile outer tire holding arm of the present utility model.

[0032] Wherein: 1. Robot support control device; 101. Wiring duct; 102. Support crossbeam; 2. Wheel hub drive device; 3. Tire clamping arm device; 301. Servo motor; 302. Driver; 3021. Protective shell; 3022. Sealed rear cover; 3023. Transmission disc; 3024. Guide groove; 3025. Limit sliding groove; 303. Automobile outer tire clamping arm; 3031. Support arm claw; 3032. Driving slider; 3033. Track groove; 3034. Limit slider; 4. Automobile wheel hub; 5. Automobile outer tire. Detailed implementation manner

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] Please refer to Figure 1-6 , a tire clamping arm drive system for a vertical tire dismounting and mounting robot, including a robot support control device 1, a wheel hub drive device 2, a tire clamping arm device 3, an automobile wheel hub 4, and an automobile outer tire 5. The wheel hub drive device 2 is installed on the side of the robot support control device 1, and the tire clamping arm device 3 is installed at a relative position to the wheel hub drive device 2 and is fixed on the robot support control device 1;

[0035] The wheel hub drive device 2 fixes the automobile wheel hub 4, and the tire clamping arm device 3 clamps and expands the inner edge of the automobile outer tire 5, so that the automobile outer tire 5 is separated from the outer surface of the automobile wheel hub 4;

[0036] The tire clamping arm device 3 includes a servo motor 301 and a driver 302. Both the servo motor 301 and the driver 302 are fixed on the robot support control device 1, and the servo motor 301 drives the driver 302;

[0037] A plurality of automobile outer tire clamping arms 303 are installed inside the driver 302, and the plurality of automobile outer tire clamping arms 303 are synchronously pulled by the driver 302 for movement;

[0038] The circuit of the servo motor 301 is led to the inside of the robot support control device 1, and the servo motor 301 is controlled by the robot support control device 1.

[0039] Through the above technical solution, a servo motor 301 is provided to drive a driver 302, and the outer tire clamping arm 303 of the vehicle extends into the interior of the driver 302. When the driver 302 is driven, the driving force will be synchronously transmitted to all the outer tire clamping arms 303 of the vehicle, so that the outer tire clamping arms 303 expand or contract synchronously with the center of the driver 302 as the origin. Compared with the individual control of multiple control points, it has high accuracy and can keep the axis unchanged when the inner edge of the outer tire 5 of the vehicle is expanded;

[0040] The transmission of the robot support control device 1 to the hub drive device 2 and the working mode of the hub drive device 2 belong to the prior art and are clearly described in the patent document CN 113103832 B, "A Vertical Tire Disassembly and Assembly Robot". Therefore, this application document will not elaborate further.

[0041] Specifically, the driver 302 includes a protective shell 3021 and a sealed rear cover 3022. The protective shell 3021 and the sealed rear cover 3022 are connected together by bolts. A plurality of guide grooves 3024 are provided on the side of the protective shell 3021 facing the hub drive device 2, and the outer tire clamping arms 303 of the vehicle penetrate the guide grooves 3024 and extend into the interior of the protective shell 3021;

[0042] The outer surface of the protective shell 3021 is fixedly connected to the robot support control device 1. A transmission disc 3023 is installed inside the driver 302. The axis of the transmission disc 3023 is fixedly connected to the output shaft of the servo motor 301. The transmission disc 3023 is driven by the servo motor 301 to rotate, and the transmission disc 3023 drives the outer tire clamping arms 303 of the vehicle to move synchronously.

[0043] Through the above technical solution, the protective shell 3021 and the sealed rear cover 3022 are provided, so as to be able to limit the transmission disc 3023 and prevent the transmission disc 3023 from deviating excessively during operation. The provided guide grooves 3024 are used to limit the movement of the outer tire clamping arms 303 of the vehicle, so that the outer tire clamping arms 303 move along the track of the limit slider 3034, improving the accuracy of the movement of the outer tire clamping arms 303 of the vehicle;

[0044] During use, the servo motor 301 rotates according to a predetermined number of turns, thereby driving the transmission disc 3023 to rotate to achieve the movement of the outer tire clamping arms 303 of the vehicle by a specified distance, achieving the purpose of precise displacement.

[0045] Specifically, the outer tire clamping arm 303 of the vehicle includes a support arm claw 3031. A drive slider 3032 is fixedly connected to the end of the support arm claw 3031. A track groove 3033 is provided on the side of the drive slider 3032 close to the transmission disc 3023. The track groove 3033 meshes with the surface of the transmission disc 3023 and is driven.

[0046] Through the above technical solution, the support arm claw 3031 is provided to directly apply pressure to the inner edge of the automobile outer tire 5, so that the inner edge of the automobile outer tire 5 is gradually separated from the automobile wheel hub 4;

[0047] The provided track groove 3033 is used to cooperate with the transmission disk 3023. When the transmission disk 3023 rotates, the track groove 3033 will be tractioned by the track and drive the drive slider 3032 to displace, so as to drive the support arm claw 3031 to apply a force in a predetermined direction to the automobile outer tire 5, so as to realize expanding or loosening the automobile outer tire 5.

[0048] Specifically, a spiral transmission strip is provided on the side of the transmission disk 3023 facing the drive slider 3032, and the spiral transmission strip extends into the interior of the track groove 3033;

[0049] The track groove 3033 is an arc groove.

[0050] Through the above technical solution, a spiral track is formed between the provided spiral transmission strips, and the spiral track cooperates with the track groove 3033, so as to realize stable driving of the drive slider 3032, and its principle is similar to that of the claw chuck on a machine tool;

[0051] And the track groove 3033 is set as an arc groove, so that it can fit better with the spiral track formed between the spiral transmission strips.

[0052] Specifically, limiting sliding grooves 3025 are opened on both sides of the guiding groove 3024, the length of the limiting sliding grooves 3025 is equal to the length of the guiding groove 3024, and limiting sliding blocks 3034 are fixedly connected to both sides of the drive slider 3032;

[0053] The limiting sliding blocks 3034 extend into the interior of the limiting sliding grooves 3025 and are limited.

[0054] Through the above technical solution, the limiting sliding grooves 3025 are opened on both sides of the guiding groove 3024, and the limiting sliding blocks 3034 are fixedly connected to both sides of the drive slider 3032. Thus, through the cooperation of the limiting sliding grooves 3025 and the limiting sliding blocks 3034, further limiting of the drive slider 3032 can be realized, so as to further improve the accuracy and stability of the movement of the drive slider 3032.

[0055] Specifically, a wavy groove is provided at the contact end of the support arm claw 3031 with the automobile outer tire 5, and the bending parts of the wavy groove are all arc chamfers.

[0056] Through the above technical solution, the end of the support arm claw 3031 is set to a wave-shaped groove, so that when the support arm claw 3031 applies force to the inner edge of the automobile outer tire 5, the wave-shaped groove can achieve the effect of clamping the inner edge of the automobile outer tire 5, thereby preventing the automobile outer tire 5 from deflecting due to its own elasticity;

[0057] An arc chamfer is provided at the bend of the wave-shaped groove, so as to improve the smoothness of the support arm claw 3031 and avoid damage to the automobile outer tire 5 due to too hard a corner.

[0058] Specifically, the robot support control device 1 is also respectively installed with a wiring trough 101 and a support beam 102, and the wires of the servo motor 301 are led from the inside of the wiring trough 101 to the inside of the robot support control device 1;

[0059] The supporting cross beam 102 is installed at the bottom of the automobile tire arm 303.

[0060] Through the above technical solution, the wiring duct 101 is provided to facilitate wiring, improve the aesthetics of the equipment, and protect the line;

[0061] The support beam 102 is used to support the automobile tire 5 when disassembling the automobile tire 5, so as to prevent the automobile tire 5 from falling directly to the ground and causing risks when the automobile tire holding arm 303 releases the automobile tire 5, and when installing the automobile tire 5, the support beam 102 can serve as an intermediate support point to facilitate the installation of the automobile tire 5 on the automobile tire holding arm 303.

[0062] When in use, the servo motor 301 is set to drive the driver 302, and the automobile outer tire holding arm 303 is extended to the inside of the driver 302. When the driver 302 is driven, the driving power is synchronously transmitted to all the automobile outer tire holding arms 303, so that the automobile outer tire holding arms 303 are synchronously expanded or contracted with the center of the driver 302 as the origin. With respect to the individual control of multiple control points, it has high accuracy, so that the inner edge of the automobile outer tire 5 can keep the axis unchanged when it is expanded;

[0063] By setting the transmission disk 3023 and the track groove 3033 in coordination, all the driving sliders 3032 are driven to move through the rotation of the transmission disk 3023, so that each time the transmission disk 3023 rotates, the movement spacing of all the support arm claws 3031 is equal, and the transmission disk 3023 can realize the expansion and contraction of the support arm claws 3031 through forward and reverse rotation, thereby achieving the effect of convenient control and accurate movement.

[0064] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tire arm drive system for a vertical tire disassembling and assembly robot, comprising a robot support control device (1), a wheel hub drive device (2), a tire arm device (3), a vehicle wheel hub (4) and a vehicle outer tire (5), wherein the wheel hub drive device (2) is mounted on a side of the robot support control device (1), the tire arm device (3) is mounted at a position opposite to the wheel hub drive device (2), and the tire arm device (3) is fixed on the robot support control device (1); The wheel hub drive device (2) fixes the automobile wheel hub (4), and the tire arm device (3) clamps and expands the inner edge of the automobile outer tire (5), so that the automobile outer tire (5) is separated from the outer surface of the automobile wheel hub (4); Features: The tire arm device (3) comprises a servo motor (301) and a driver (302), wherein the servo motor (301) and the driver (302) are both fixed on the robot support control device (1), and the servo motor (301) drives the driver (302); A plurality of automobile tire holding arms (303) are installed inside the driver (302), and the plurality of automobile tire holding arms (303) are pulled and moved synchronously by the driver (302); The circuit of the servo motor (301) is led to the interior of the robot support control device (1), and the servo motor (301) is controlled by the robot support control device (1).

2. The tire arm drive system for a vertical tire disassembling and mounting robot according to claim 1, characterized in that: The driver (302) comprises a protective shell (3021) and a sealed rear cover (3022), wherein the protective shell (3021) and the sealed rear cover (3022) are connected together by bolts, a plurality of guide grooves (3024) are provided on a side of the protective shell (3021) facing the wheel hub drive device (2), and the automobile tire arm (303) penetrates the guide grooves (3024) and extends to the interior of the protective shell (3021); The outer surface of the protective shell (3021) is fixedly connected to the robot support control device (1); a transmission disc (3023) is installed inside the driver (302); the axis of the transmission disc (3023) is fixedly connected to the output shaft of the servo motor (301); the transmission disc (3023) is driven by the servo motor (301) to rotate, and the transmission disc (3023) drives the automobile tire holding arm (303) to move synchronously.

3. The tire arm drive system for a vertical tire disassembling and mounting robot according to claim 2, characterized in that: The automobile tire holding arm (303) comprises a support arm claw (3031), the end of the support arm claw (3031) is fixedly connected to a driving slider (3032), a track groove (3033) is provided on a side of the driving slider (3032) close to the transmission disc (3023), and the track groove (3033) is engaged with the surface of the transmission disc (3023) and is driven.

4. The tire arm drive system for a vertical tire disassembling and mounting robot according to claim 3, characterized in that: A vortex transmission bar is provided on one side of the transmission disc (3023) facing the driving slider (3032), and the vortex transmission bar extends to the inside of the track groove (3033); The track groove (3033) is an arc-shaped groove.

5. The tire arm drive system for a vertical tire disassembling and mounting robot according to claim 4, characterized in that: Both sides of the guide groove (3024) are provided with a limit slide groove (3025), the length of the limit slide groove (3025) is equal to the length of the guide groove (3024), and both sides of the driving slider (3032) are fixedly connected to the limit slide groove (3034); The limiting sliding block (3034) extends to the interior of the limiting sliding groove (3025) and is limited.

6. The tire arm drive system for a vertical tire disassembling and mounting robot according to claim 5, characterized in that: The contact end of the support arm claw (3031) with the automobile outer tire (5) is provided with a wavy groove, and the bending parts of the wavy groove are all arc-shaped chamfers.

7. A tire arm drive system for a vertical tire disassembling and mounting robot according to any one of claims 1 to 6, characterized in that: The robot support control device (1) is also respectively mounted with a wiring trough (101) and a support beam (102), and the wires of the servo motor (301) are led from the inside of the wiring trough (101) to the inside of the robot support control device (1); The supporting crossbeam (102) is installed at the bottom of the automobile tire arm (303).

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