Grabbing device and tire loading and unloading equipment for tire vulcanizing machine

Abstract

The utility model provides a gripping device and tire loading and unloading equipment for a tire vulcanizer, the gripping device is used for gripping or releasing tire products, the gripping device comprises: a mounting structure, the mounting structure is used for being connected with a structure to be connected, and the mounting structure is movably arranged; the holding structure is located below the mounting structure, the holding structure is movably arranged, and the holding structure is used for grabbing or releasing the tire product; the grabbing structure is mounted on the mounting structure, and the grabbing structure is located below the mounting structure; at least part of the grabbing structure is movably arranged relative to the mounting structure, and the grabbing structure is used for grabbing or releasing the tire product; the holding structure is movably arranged on the grabbing structure. The grabbing device can effectively solve the technical problem that in the prior art, when a crane and a forklift are adopted for carrying out tire loading and unloading on engineering solid tire products, multiple operators need to carry out auxiliary operation.

Description

Technical Field

[0001] The utility model relates to the technical field of rubber machinery, and particularly relates to a grasping device and a tire loading and unloading device for a tire vulcanizer. Background Art

[0002] In the production process of engineering solid tires, after various tire products are formed through the forming process, they need to be transferred to a vulcanizer for vulcanization into tires. During the vulcanization process, the tire blank needs to be grasped into the vulcanizer mold, and after high-temperature and high-pressure vulcanization, the tire needs to be grasped out of the mold. Since the engineering solid tire is heavy, with the weight of each tire between 600 - 15000 kg, currently, cranes and forklifts are usually used for tire loading and unloading.

[0003] However, when using cranes and forklifts for tire loading and unloading, not only are multiple operators required for auxiliary operations, but during the transfer process, the tire products may shake or tilt, affecting the stability of the operation. In addition, if the operation is improper, the tire may fall or collide, resulting in damage to the equipment and tire products, and even injury to personnel, thus affecting production efficiency and increasing operation risks. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the above technical deficiencies and provide a grasping device and a tire loading and unloading device for a tire vulcanizer to solve the technical problem that when using a crane and a forklift to load and unload engineering solid tire products in the prior art, multiple operators are required for auxiliary operations.

[0005] To achieve the above technical purpose, according to one aspect of the utility model: a grasping device is provided, which is used to grasp or release tire products. The grasping device includes: a mounting structure for connecting with a structure to be connected, and the mounting structure is movably arranged; a clamping structure located below the mounting structure, and the clamping structure is movably arranged, and the clamping structure is used to grasp or release tire products; a grasping structure mounted on the mounting structure and located below the mounting structure; at least part of the grasping structure is movably arranged relative to the mounting structure, and the grasping structure is used to grasp or release tire products; the clamping structure is movably arranged on the grasping structure; wherein, the grasping structure has a first avoidance state for avoiding the tire product, and the clamping structure has a second avoidance state for avoiding the tire product; when the clamping structure grasps or releases the tire product, the grasping structure is in the first avoidance state; when the grasping structure grasps or releases the tire product, the clamping structure is in the second avoidance state.

[0006] Furthermore, the grasping structure includes: a fixed disk, which is connected to the mounting structure and located below the mounting structure; a plurality of tire-holding arms, which are arranged around the fixed disk in a surrounding manner, and each of the plurality of tire-holding arms is arranged to be swingable relative to the fixed disk; the plurality of tire-holding arms have a holding state for holding the tire product and a spreading state for avoiding the tire product; wherein, when the clamping structure grasps or releases the tire product, the plurality of tire-holding arms are in the spreading state, so that the grasping structure is in the first avoidance state.

[0007] Furthermore, the grasping structure further includes: a floating disk, which is arranged on the fixed disk to be movable in the vertical direction, and the floating disk is located between the fixed disk and the mounting structure; the connecting ends of the plurality of tire-holding arms are all connected to the floating disk, so as to drive the plurality of tire-holding arms to spread or close through the movement of the floating disk; a first driving component, which is arranged on the mounting structure, and the driving end of the first driving component is drivingly connected to the floating disk, and the first driving component is used to drive the floating disk to move in the vertical direction.

[0008] Furthermore, a plurality of first avoidance grooves are arranged at the edge of the floating disk, and the plurality of first avoidance grooves are evenly spaced along the circumferential direction of the floating disk; the plurality of first avoidance grooves are arranged in one-to-one correspondence with the plurality of tire-holding arms, and the connecting end of each tire-holding arm is arranged in the corresponding first avoidance groove; each of the first avoidance grooves extends along the circumferential direction of the floating disk; the grasping structure further includes: a plurality of connecting shafts, which are arranged in one-to-one correspondence with the plurality of first avoidance grooves, and each connecting shaft is located in the corresponding first avoidance groove; both ends of each connecting shaft are respectively connected to the inner wall of the corresponding first avoidance groove; each tire-holding arm is sleeved on the corresponding connecting shaft, and each tire-holding arm is connected to the floating disk through the corresponding connecting shaft; wherein, a sliding groove is arranged at the connecting end of each tire-holding arm, and the sliding groove extends along a preset direction, and the connecting shaft corresponding to each tire-holding arm is slidably inserted into the sliding groove; when the floating disk moves in the vertical direction, each connecting shaft slides along the extending direction of the corresponding sliding groove, so as to drive the connecting end of the tire-holding arm corresponding to each connecting shaft to rotate relative to the floating disk.

[0009] Furthermore, the grasping structure further includes: a guiding shaft, which is inserted through the fixed disk and coaxially arranged with the fixed disk; a guiding channel is arranged in the guiding shaft, and the guiding channel extends along the axial direction of the guiding shaft; the clamping structure is arranged on the guiding shaft, and at least part of the clamping structure is movably inserted into the guiding channel along the extending direction of the guiding channel; wherein, a first avoidance hole is arranged on the floating disk, and the first avoidance hole is used to avoid the guiding shaft and / or at least part of the clamping structure.

[0010] Further, the clamping structure includes: a mounting table movably disposed in the guiding channel along the extending direction of the guiding channel; a support shaft, one end of the support shaft is mounted on the mounting table, the other end of the support shaft passes through the guiding shaft and is disposed towards the ground, and the support shaft extends along the extending direction of the guiding channel; a plurality of clamping members, the plurality of clamping members are all telescopically disposed on the outer wall of the support shaft, and the plurality of clamping members are arranged around the support shaft to form an annular structure for positioning the tire product; the plurality of clamping members are used to be in contact with the inner wall of the tire product and perform clamping or separate from the inner wall of the tire product; wherein, when the grasping structure grasps or releases the tire product, the plurality of clamping members are all in a retracted state, and the mounting table drives the support shaft and the plurality of clamping members to move away from the tire product, so that the clamping structure is in a second avoidance state.

[0011] Further, the clamping structure further includes: a second driving assembly disposed on the guiding shaft; the second driving assembly is drivingly connected to the mounting table, and the second driving assembly is used to drive the mounting table to move along the extending direction of the guiding channel.

[0012] According to another aspect of the present invention, there is provided a tire loading and unloading device for a tire vulcanizer, the tire loading and unloading device includes: a moving device movably disposed along a preset track; a grasping device, which is the above-mentioned grasping device, the grasping device is movably disposed on the moving device along the vertical direction, and the grasping device is located below the moving device, and the moving device drives the grasping device to move along the preset track.

[0013] Further, the moving device includes a mounting arm and a moving arm, the mounting arm extends along the vertical direction, and the grasping device is movably disposed on the mounting arm along the vertical direction; the moving arm is movably disposed along the preset track, the moving arm is connected to the mounting arm, and the extending direction of the moving arm is perpendicular to the extending direction of the mounting arm; the tire loading and unloading device further includes: a guide rail cross beam and a balance cross beam, both the guide rail cross beam and the balance cross beam extend along the preset track, and the guide rail cross beam and the balance cross beam are sequentially spaced along the extending direction of the moving arm; the moving arm is movably disposed on the guide rail cross beam along the extending direction of the guide rail cross beam, and one end of the moving arm away from the mounting arm is located below the balance cross beam, and the balance cross beam is used to keep the moving arm balanced.

[0014] Further, the tire loading and unloading device further includes: a lifting device mounted on the grasping device, the lifting rod of the lifting device is connected to the moving device, and the lifting rod of the lifting device is vertically movably disposed relative to the moving device; to drive the grasping device to move vertically through the lifting rod of the lifting device; and / or, a balance pneumatic device disposed on the moving device, and the balance pneumatic device is used to balance the load.

[0015] Beneficial effects:

[0016] Applying the technical solution of the present utility model, the gripping device provided by the present utility model is provided with an installation structure, a clamping structure and a gripping structure. The installation structure is movably arranged, the gripping structure is installed on the installation structure, and the gripping structure is located below the installation structure; at least part of the gripping structure is movably arranged relative to the installation structure, and the gripping structure is used for gripping or releasing tire products; at the same time, the clamping structure is movably arranged on the gripping structure, and the clamping structure is used for gripping or releasing tire products. In addition, the gripping structure has a first avoidance state for avoiding the tire product, and the clamping structure has a second avoidance state for avoiding the tire product; when the clamping structure grips or releases the tire product, the gripping structure is in the first avoidance state; when the gripping structure grips or releases the tire product, the clamping structure is in the second avoidance state. Thus, by providing the clamping structure and the gripping structure, the working mode can be arbitrarily switched according to the situation of the tire product and the working conditions, ensuring that tasks can be efficiently and safely completed in different situations, and improving the flexibility and adaptability of the gripping device. And by dynamically adjusting the states of the clamping structure and the gripping structure, collisions with tire products or other equipment during operation can be effectively avoided, reducing the risk of damage to the equipment and tire products. At the same time, the quick switching ability of the clamping structure and the gripping structure enables the device to quickly respond to different operation requirements, reducing the waiting time and improving the working efficiency. Moreover, through the clamping structure and the gripping structure, the gripping device can precisely control the gripping and releasing actions, avoiding the shaking and tilting of the tire product during transfer, ensuring the smoothness of the operation. In addition, through the collaborative work of the installation structure, the clamping structure and the gripping structure, the gripping device can automatically complete the gripping and releasing of the tire product, thereby reducing the need for multiple operators, reducing the labor cost, and reducing the errors caused by human factors, improving the accuracy and consistency of the operation. This gripping device can effectively solve the technical problem in the prior art that when using a crane and a forklift to mount and dismount engineering solid tire products, multiple operators are required for auxiliary operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 FIG. 7 shows a first perspective structural view of an embodiment of the gripping device according to the present utility model;

[0018] Figure 2 FIG. 11 shows a second perspective structural view of an embodiment of the gripping device according to the present utility model;

[0019] Figure 3 FIG. 15 shows a third perspective structural view of an embodiment of the gripping device according to the present utility model;

[0020] Figure 4The structural schematic diagram of an embodiment of a tire loading and unloading device for a tire vulcanizer according to the present utility model is shown.

[0021] Among them, the above-mentioned drawings include the following reference numerals:

[0022] 100, grasping device; 1, mounting structure; 2, clamping structure; 21, mounting table; 22, support shaft; 221, moving channel; 23, clamping member; 24, second driving assembly; 241, second driving member; 25, rotating assembly; 26, movable sleeve; 27, transmission arm; 28, moving member; 29, guiding block; 20, third driving assembly; 3, grasping structure; 31, fixed disk; 310, second avoidance groove; 32, tire holding arm; 321, connecting end; 322, sliding groove; 33, floating disk; 331, first avoidance groove; 332, first avoidance hole; 34, first driving assembly; 35, guiding shaft; 350, guiding channel; 36, first support plate; 37, second support plate; 4, connecting rod; 200, moving device; 2001, mounting arm; 2002, moving arm; 2003, lead screw nut; 300, guide rail cross beam; 400, balance cross beam; 500, lifting device; 5001, driving member; 5002, lead screw; 600, balance pneumatic device; 700, guiding wheel. Detailed implementation manners

[0023] In order to enable those skilled in the art of the present technology to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0024] Please refer to Figures 1 to 3, according to an embodiment of the present utility model, a grasping device is provided. The grasping device 100 is used for grasping or releasing a tire product. The grasping device 100 includes: a mounting structure 1, a clamping structure 2, and a grasping structure 3. The mounting structure 1 is used for connecting with a structure to be connected, and the mounting structure 1 is movably arranged; the clamping structure 2 is located below the mounting structure 1, and the clamping structure 2 is movably arranged. The clamping structure 2 is used for grasping or releasing a tire product; the grasping structure 3 is mounted on the mounting structure 1, and the grasping structure 3 is located below the mounting structure 1; at least part of the grasping structure 3 is movably arranged relative to the mounting structure 1, and the grasping structure 3 is used for grasping or releasing a tire product; the clamping structure 2 is movably arranged on the grasping structure 3; wherein, the grasping structure 3 has a first avoidance state for avoiding the tire product, and the clamping structure 2 has a second avoidance state for avoiding the tire product; when the clamping structure 2 grasps or releases the tire product, the grasping structure 3 is in the first avoidance state; when the grasping structure 3 grasps or releases the tire product, the clamping structure 2 is in the second avoidance state.

[0025] It can be seen that the gripping device provided by the present utility model, by setting the mounting structure 1, the clamping structure 2 and the gripping structure 3, the mounting structure is movably arranged, the gripping structure 3 is mounted on the mounting structure 1, and the gripping structure 3 is located below the mounting structure 1; at least part of the gripping structure 3 is movably arranged relative to the mounting structure 1, and the gripping structure 3 is used for gripping or releasing tire products; at the same time, the clamping structure 2 is movably arranged on the gripping structure 3, and the clamping structure 2 is used for gripping or releasing tire products. In addition, the gripping structure 3 has a first avoidance state for avoiding the tire product, and the clamping structure 2 has a second avoidance state for avoiding the tire product; when the clamping structure 2 grips or releases the tire product, the gripping structure 3 is in the first avoidance state; when the gripping structure 3 grips or releases the tire product, the clamping structure 2 is in the second avoidance state. Thus, it can be seen that by setting the clamping structure 2 and the gripping structure 3, the working mode can be arbitrarily switched according to the situation of the tire product and the working conditions, ensuring that the task can be efficiently and safely completed under different circumstances, and improving the flexibility and adaptability of the gripping device. And by dynamically adjusting the states of the clamping structure 2 and the gripping structure 3, it is possible to effectively avoid collisions with tire products or other equipment during the operation process, reducing the risk of damage to the equipment and tire products. At the same time, the rapid switching ability of the clamping structure 2 and the gripping structure 3 enables the device to quickly respond to different operation requirements, reducing the waiting time and improving the working efficiency. Moreover, through the clamping structure 2 and the gripping structure 3, the gripping device 100 can precisely control the gripping and releasing actions, avoiding the shaking and tilting of the tire product during the transfer process, ensuring the smoothness of the operation. In addition, through the collaborative work of the mounting structure 1, the clamping structure 2 and the gripping structure 3 of the gripping device 100, the gripping and releasing of the tire product can be automatically completed, thereby reducing the need for multiple operators, reducing the labor cost, and reducing the errors caused by human factors, improving the accuracy and consistency of the operation. This gripping device can effectively solve the technical problem in the prior art that when using a crane and a forklift to mount and dismount engineering solid tire products, multiple operators are required for auxiliary operations.

[0026] Optionally, the tire product includes a green tire and a tire, the clamping structure 2 is used for gripping or releasing the green tire, and the gripping structure 3 is used for gripping or releasing the tire.

[0027] Optionally, the clamping structure 2 is located at the central position of the gripping device.

[0028] Optionally, when the gripping device 100 is used to load the green tire into the lower mold of the vulcanization mold, the gripping structure 3 is in the first avoidance state. The gripping structure 3 avoids the green tire and the lower mold of the vulcanization mold. Then, the clamping structure 2 moves relative to the gripping structure 3 to grip the green tire. After gripping the green tire, the mounting structure 1 drives the gripping structure 3 in the first avoidance state and the clamping structure 2 that has gripped the green tire to move in the direction of the lower mold of the vulcanization mold. When the green tire is located above the lower mold of the vulcanization mold, the mounting structure 1 drives the gripping structure 3 in the first avoidance state and the clamping structure 2 that has gripped the green tire to move into the cavity of the lower mold of the vulcanization mold. When the mounting structure 1 drives the gripping structure 3 in the first avoidance state and the clamping structure 2 that has gripped the green tire to move to the first preset position, the green tire is released by the movement of the clamping structure 2 relative to the gripping structure 3, and finally the green tire is successfully loaded into the lower mold of the vulcanization mold.

[0029] Optionally, when the gripping device 100 is used to unload the vulcanized tire from the lower mold of the vulcanization mold, the clamping structure 2 is in the second avoidance state, and the clamping structure 2 avoids the tire and / or the vulcanization mold. Then, the mounting structure 1 first drives the clamping structure 2 in the second avoidance state and the gripping structure 3 to move above the tire. Then, the mounting structure 1 drives the gripping structure 3 to move in the direction of the tire. When the mounting structure 1 drives the gripping structure 3 to move to the second preset position, the gripping structure 3 moves relative to the mounting structure 1 to grip the tire; after the gripping structure 3 completes the gripping, the mounting structure 1 drives the clamping structure 2 in the second avoidance state and the gripping structure 3 that has gripped the tire to move in the direction away from the lower mold of the vulcanization mold and move to the unloading position. Then, through the collaborative work of the mounting structure 1 and the gripping structure 3, the gripping structure 3 releases the tire to the unloading position.

[0030] In this embodiment, as Figures 1 to 3As shown in the figure, the grasping structure 3 includes a fixed disk 31 and a plurality of tire-holding arms 32. The fixed disk 31 is connected to the mounting structure 1 and is located below the mounting structure 1. The plurality of tire-holding arms 32 are arranged around the fixed disk 31 and are all swingably arranged relative to the fixed disk 31. The plurality of tire-holding arms 32 have a holding state for holding the tire product and a spreading state for avoiding the tire product. Wherein, when the clamping structure 2 grasps or releases the tire product, the plurality of tire-holding arms 32 are in the spreading state, so that the grasping structure 3 is in the first avoidance state. With such a structural arrangement, the plurality of tire-holding arms 32 are arranged around the fixed disk 31 and can be evenly distributed around the tire product, ensuring effective grasping or releasing of the tire product at different positions and angles. And each tire-holding arm 32 is swingably arranged relative to the fixed disk 31, so that the grasping structure 3 can adapt to tire products of different sizes and shapes, improving the versatility and adaptability of the grasping device 100.

[0031] Further, a plurality of second avoidance grooves 310 are formed at the edge of the fixed disk 31. The plurality of second avoidance grooves 310 are evenly spaced along the circumferential direction of the fixed disk 31. The plurality of second avoidance grooves 310 are arranged in one-to-one correspondence with the plurality of tire-holding arms 32. At least a part of each tire-holding arm 32 is arranged in the corresponding second avoidance groove 310, and each tire-holding arm 32 is hinged to the fixed disk 31.

[0032] Further, the grasping structure 3 further includes a plurality of first support plates 36 and a plurality of second support plates 37. The plurality of first support plates 36 and the plurality of second support plates 37 are both arranged in one-to-one correspondence with the plurality of second avoidance grooves 310 and the plurality of tire-holding arms 32. Each first support plate 36 and each second support plate 37 are arranged opposite to each other. Each first support plate 36 and each second support plate 37 are located below the corresponding second avoidance groove 310, and each first support plate 36 and each second support plate 37 are fixedly connected to the fixed disk 31. At the same time, each first support plate 36 and each second support plate 37 extend in the vertical direction. Each first support plate 36, each second support plate 37 and the corresponding second avoidance groove 310 enclose an avoidance channel. At least a part of each tire-holding arm 32 is arranged in the corresponding avoidance channel, and each tire-holding arm 32 is respectively hinged to the corresponding first support plate 36 and second support plate 37. Thus, the fixed disk 31 is hinged to each tire-holding arm 32 through the first support plate 36 and the second support plate 37 corresponding to each tire-holding arm 32.

[0033] Further, the grasping device 100 further includes a plurality of connecting rods 4. The plurality of connecting rods 4 are evenly spaced along the circumferential direction of the mounting structure 1. Each connecting rod 4 extends in the vertical direction. The two ends of each connecting rod 4 are respectively detachably connected to the fixed disk 31 and the mounting structure 1. Thus, the fixed disk 31 is connected to the mounting structure 1 through each connecting rod 4.

[0034] Specifically, as Figures 1 to 3 shown, the grasping structure 3 further includes a floating disk 33 and a first driving component 34. The floating disk 33 is movably arranged on the fixed disk 31 in the vertical direction. The floating disk 33 is located between the fixed disk 31 and the mounting structure 1. The connecting ends 321 of the plurality of tire-holding arms 32 are all connected to the floating disk 33, so as to drive the plurality of tire-holding arms 32 to expand or contract through the movement of the floating disk 33. The first driving component 34 is arranged on the mounting structure 1, and the driving end of the first driving component 34 is drivingly connected to the floating disk 33. The first driving component 34 is used to drive the floating disk 33 to move in the vertical direction. With such a structural arrangement, by providing the floating disk 33 and the first driving component 34, and the driving end of the first driving component 34 is drivingly connected to the floating disk 33, the first driving component 34 can accurately control the movement of the floating disk 33 in the vertical direction, thereby accurately controlling the expansion and contraction actions of the plurality of tire-holding arms 32. This accurate control ensures the stability during the grasping and releasing of the tire product, and avoids the shaking and tilting of the tire product during the transfer process. And through the vertical movement of the floating disk 33, the plurality of tire-holding arms 32 can expand and contract at different angles. This angle change enables the grasping device 100 to adapt to tire products of different shapes and sizes, improving the flexibility and adaptability of the grasping device 100.

[0035] Optionally, the first driving component 34 is a first cylinder.

[0036] Furthermore, a plurality of first avoidance grooves 331 are provided at the edge of the floating disk 33, and the plurality of first avoidance grooves 331 are evenly spaced along the circumferential direction of the floating disk 33. The plurality of first avoidance grooves 331 are arranged in one-to-one correspondence with the plurality of tire-holding arms 32. The connecting end 321 of each tire-holding arm 32 is arranged in the corresponding first avoidance groove 331. Each first avoidance groove 331 extends along the circumferential direction of the floating disk 33. The grasping structure 3 further includes a plurality of connecting shafts. The plurality of connecting shafts are arranged in one-to-one correspondence with the plurality of first avoidance grooves 331, and each connecting shaft is located in the corresponding first avoidance groove 331. Both ends of each connecting shaft are respectively connected to the inner walls of the corresponding first avoidance groove 331. Each tire-holding arm 32 is sleeved on the corresponding connecting shaft, and each tire-holding arm 32 is connected to the floating disk 33 through the corresponding connecting shaft. Wherein, a chute 322 is provided on the connecting end 321 of each tire-holding arm 32. The chute 322 extends along a preset direction. The connecting shaft corresponding to each tire-holding arm 32 is slidably inserted into the chute 322. When the floating disk 33 moves in the vertical direction, each connecting shaft slides along the extending direction of the corresponding chute 322, so as to drive the connecting end 321 of the tire-holding arm 32 corresponding to each connecting shaft to rotate relative to the floating disk 33.

[0037] Further, the extending direction of the connecting shaft is disposed perpendicular to the extending direction of the first avoidance groove.

[0038] Optionally, the working process of the grasping structure 3 for grasping the vulcanized tire on the lower mold of the vulcanization mold is as follows:

[0039] First, the clamping structure 2 is adjusted to the second avoidance state, and the mounting structure 1 drives the clamping structure 2 and the grasping structure 3 to move above the vulcanized tire.

[0040] Second, when the grasping structure 3 moves above the vulcanized tire, the first driving assembly 34 drives the floating disk 33 to move downward in the vertical direction, thereby driving each connecting shaft to slide along the corresponding chute 322, so that the tire holding arms corresponding to each connecting shaft rotate relative to the floating disk 33, so that each tire holding arm 32 is in an expanded state, so as to avoid the tire and / or the lower mold.

[0041] Finally, after each tire holding arm 32 is in the expanded state, the mounting structure 1 drives the grasping structure 3 to move towards the tire. When the mounting structure 1 drives the grasping structure 3 to move to the second preset position, the first driving assembly 34 drives the floating disk 33 to move upward in the vertical direction, and then drives each connecting shaft to slide along the corresponding chute 322, so that each tire holding arm 32 switches from the expanded state to the holding state, so that the grasping structure 3 grasps the tire. After the grasping structure 3 completes the grasping, the mounting structure 1 drives the clamping structure 2 in the second avoidance state and the grasping structure 3 with the grasped tire to move away from the lower mold of the vulcanization mold and move to the unloading position. When reaching above the unloading position, the mounting structure 1 drives the grasping structure 3 to move towards the unloading position. When the mounting structure 1 drives the grasping structure 3 to move to the third preset position, then, each tire holding arm 32 switches from the holding state to the expanded state, so that the grasping structure 3 releases the tire, so that the tire is unloaded to the unloading position.

[0042] Specifically, as Figures 1 to 3As shown, the grasping structure 3 further includes: a guiding shaft 35, which is passed through the fixed disk 31, and the guiding shaft 35 is coaxially arranged with the fixed disk 31; a guiding channel 350 is provided in the guiding shaft 35, and the guiding channel 350 extends along the axial direction of the guiding shaft 35; the clamping structure 2 is arranged on the guiding shaft 35, and at least part of the clamping structure 2 is movably passed through the guiding channel 350 along the extending direction of the guiding channel 350; wherein, a first avoidance hole 332 is provided on the floating disk 33, and the first avoidance hole 332 is used for avoiding at least part of the guiding shaft 35 and / or the clamping structure 2. With such an arrangement, the guiding shaft 35 is passed through the fixed disk 31 and coaxially arranged with the fixed disk 31, ensuring the linearity and stability of the clamping structure 2 during movement. The guiding channel 350 in the guiding shaft 35 extends along the axial direction, enabling at least part of the clamping structure 2 to move smoothly along the extending direction of the guiding channel 350. Moreover, the guiding shaft 35 also reduces the lateral offset of the clamping structure 2 during movement, ensuring the precise alignment of the clamping structure 2 at different positions and improving the stability of the operation.

[0043] In this embodiment, as Figures 1 to 3As shown, the clamping structure 2 includes: a mounting table 21, a support shaft 22, and a plurality of clamping members 23. The mounting table 21 is movably arranged in the guiding channel 350 along the extending direction of the guiding channel 350; one end of the support shaft 22 is mounted on the mounting table 21, and the other end of the support shaft 22 passes through the guiding shaft 35 and is arranged towards the ground. The support shaft 22 extends along the extending direction of the guiding channel 350; a plurality of clamping members 23 are all arranged on the outer wall of the support shaft 22 in a telescopic manner, and the plurality of clamping members 23 are arranged around the support shaft 22 to form an annular structure for positioning the tire product; the plurality of clamping members 23 are used to fit and clamp the inner wall of the tire product or separate from the inner wall of the tire product; wherein, when the gripping structure 3 grips or releases the tire product, the plurality of clamping members 23 are all in a retracted state, and the mounting table 21 drives the support shaft 22 and the plurality of clamping members 23 to move away from the tire product, so that the clamping structure 2 is in the second avoidance state. With such a structural arrangement, by providing the mounting table 21, the support shaft 22, and the plurality of clamping members 23, and the mounting table 21 is movably arranged in the guiding channel 350 along the extending direction of the guiding channel 350, the mounting table 21 can drive the support shaft 22 and the plurality of clamping members 23 to move towards or away from the tire product, thus facilitating the clamping structure 2 to arbitrarily switch between the second avoidance state and the working state according to the actual situation, reducing the waiting time, and improving the work efficiency. Moreover, through the precise control of the mounting table 21 and the guiding channel 350, the gripping device 100 can automatically complete the gripping and releasing of the tire product, reducing the need for multiple operators and lowering the labor cost. In addition, the plurality of clamping members 23 are arranged on the support shaft 22 in a telescopic manner and the plurality of clamping members 23 are arranged around the support shaft 22, so that the clamping structure 2 can adapt to tire products of different sizes, improving the versatility and flexibility of the device. And it also ensures that the clamping force is evenly distributed on the inner wall of the tire product, avoiding deformation or damage of the tire product caused by excessive local force.

[0044] Optionally, the guiding shaft 35 is a hollow structure.

[0045] Furthermore, each clamping member 23 has a retracted state and an open state. In the initial state, each clamping member 23 is in the retracted state. When the clamping structure 2 grips the tire product, each clamping member 23 switches from the retracted state to the open state, and then each clamping member 23 fits the inner wall of the tire product, so that each clamping member 23 clamps the tire product. At this time, the clamping structure 2 completes the gripping. When the clamping structure 2 releases the tire product, each clamping member 23 switches from the open state to the retracted state, and then each clamping member 23 separates from the inner wall of the tire product, so that the clamping structure 2 completes the release.

[0046] Specifically, the clamping structure 2 further includes: a second driving component 24, which is arranged on the guiding shaft 35; the second driving component 24 is drivingly connected to the mounting table 21 and is used to drive the mounting table 21 to move along the extending direction of the guiding channel 350.

[0047] Furthermore, the second driving component 24 is located between the fixed disk 31 and the mounting structure 1, and the second driving component 24 is arranged at intervals from the plurality of connecting rods 4.

[0048] Furthermore, the second driving component 24 includes a plurality of second driving members 241, which are evenly arranged at intervals along the circumferential direction of the guiding shaft 35.

[0049] Optionally, the second driving member 241 is a second cylinder.

[0050] Specifically, as Figures 1 to 3 shown, the clamping structure 2 further includes: a plurality of rotating components 25, which are arranged in one-to-one correspondence with the plurality of clamping members 23; each rotating component 25 is located between the corresponding clamping member 23 and the support shaft 22, and both ends of each rotating component 25 are respectively hinged to the corresponding clamping member 23 and the support shaft 22; wherein, when the clamping structure 2 completes the grasping of the tire product and starts to drive the tire product to move, each rotating component 25 rotates relative to the support shaft 22 according to the gravity of the tire product, so as to push each clamping member 23 towards the inner wall of the tire product, so that each clamping member 23 is in close fit with the inner wall of the tire product, thereby adjusting the clamping force of each clamping member 23. When the clamping structure 2 releases the tire product, each clamping member 23 is retracted, so that each rotating component 25 rotates relative to the support shaft 22 again, so that each rotating component 25 returns to its initial position.

[0051] Specifically, the clamping structure 2 further includes: a movable sleeve 26 and multiple groups of transmission arms 27, the movable sleeve 26 is movably sleeved on the support shaft 22 along the extending direction of the support shaft 22; multiple groups of transmission arms 27 are arranged in one-to-one correspondence with the plurality of clamping members 23, and multiple groups of transmission arms 27 are respectively hinged to the corresponding clamping members 23 and the movable sleeve 26, and the end of each group of transmission arms 27 away from the support shaft 22 is located at the top of the corresponding clamping member 23. By reciprocally moving the movable sleeve 26 along the extending direction of the support shaft 22, each group of transmission arms 27 is driven to open or retract, so that each clamping member 23 opens or retracts as the corresponding group of transmission arms 27 opens or retracts.

[0052] Further, a moving channel 221 is provided inside the support shaft 22, and a guiding groove communicating with the moving channel 221 is provided on the outer wall of the support shaft 22. Both the moving channel 221 and the guiding groove extend along the extending direction of the support shaft 22. The clamping structure 2 further includes: a moving member 28 and a guiding block 29. The moving member 28 is movably arranged in the moving channel 221 along the extending direction of the moving channel 221. The guiding block 29 is movably arranged in the guiding groove along the extending direction of the guiding groove. The guiding block 29 is respectively connected to the moving member 28 and the movable sleeve 26. The moving member 28 drives the movable sleeve 26 to reciprocate along the extending direction of the support shaft 22 through the guiding block 29.

[0053] Specifically, as Figures 1 to 3 shown, the clamping structure 2 further includes: a third driving assembly 20. The third driving assembly 20 is arranged on the mounting table 21, and at least part of the third driving assembly 20 is located above the mounting table 21. The driving end of the third driving assembly 20 sequentially passes through the mounting table 21 and the moving channel 221 and is drivingly connected to the moving member 28, so as to drive the moving member 28 to move along the extending direction of the moving channel 221 through the third driving assembly 20.

[0054] Optionally, the third driving assembly 20 is a third air cylinder.

[0055] Further, each clamping member 23, each rotating assembly 25, the movable sleeve 26 and multiple groups of transmission arms 27 are all located below the guiding shaft 35.

[0056] Optionally, the support shaft 22 is of a hollow structure.

[0057] Optionally, the working process of the clamping structure 2 for grasping the embryo and loading the embryo into the lower mold of the vulcanization mold is as follows:

[0058] First, the grasping structure 3 is adjusted from the initial state to the first avoidance state. At this time, each tire-holding arm 32 is in the most open state to avoid the embryo and the lower mold of the vulcanization mold. Then, the mounting structure 1 drives the clamping structure 2 and the grasping structure 3 to move to the position where the embryo is stored, and makes the clamping structure 2 located above the central hole of the embryo to be grasped.

[0059] Secondly, the mounting structure 1 drives the clamping structure 2 and the grasping structure 3 to move towards the embryo. When moving to the first preset height, the second driving assembly 24 drives the mounting table 21 to move towards the embryo along the extending direction of the guiding channel 350, thereby driving the support shaft 22, each clamping member 23, each rotating assembly 25, the movable sleeve 26, multiple groups of transmission arms 27, the moving member 28 and the guiding block 29 to move towards the embryo, so that each clamping member 23 in the closed state extends into the central hole of the embryo.

[0060] Again, the third driving assembly 20 drives the moving member 28 to extend downward along the extension direction of the moving channel 221, thereby driving the guide block 29 and the movable sleeve 26 to move downward, so that one end of each group of transmission arms 27 hinged to the support shaft 22 rotates relative to the support shaft 22, so that each group of transmission arms 27 is opened, and it also drives one end of each group of transmission arms 27 hinged to the corresponding clamping member 23 to rotate relative to the corresponding clamping member 23, so as to push the corresponding clamping member 23 to move toward the inner wall of the tire blank, so that each clamping member 23 is in an open state, and finally each clamping member 23 is tightly fitted with the inner wall of the tire blank, so that each clamping member 23 completes the clamping action. Then, the tire blank is moved to the top of the lower mold of the vulcanization mold through the cooperative work of the mounting structure 1 and the clamping structure 2.

[0061] In the process of opening each clamping member 23, the corresponding rotating component 25 is driven to rotate at one end hinged to the support shaft 22, so that the rotating component 25 and the corresponding clamping member 23 are both hinged at one end and move toward the inner wall of the tire blank, thereby driving the rotating component 25 and the corresponding clamping member 23 to rotate at one end relative to the clamping member 23, thereby assisting in pushing the corresponding clamping member 23 to open.

[0062] Adjusting the clamping force: When the clamping structure 2 drives the tire product away from the storage position, the end of each rotating component 25 hinged to the support shaft 22 rotates relative to the support shaft 22, thereby causing the end of the rotating component 25 hinged to the corresponding clamping member 23 to move toward the inner wall of the tire blank, thereby driving the end of the rotating component 25 hinged to the corresponding clamping member 23 to rotate relative to the clamping member 23, thereby pushing each clamping member 23 to move toward the inner wall of the tire blank, so that each clamping member 23 is tightly fitted with the inner wall of the tire blank, thereby adjusting the clamping force of each clamping member 23.

[0063] Finally, when the tire blank moves to the top of the lower mold of the vulcanization mold, the mounting structure 1 drives the clamping structure 2 and the grasping structure 3 to move toward the lower mold, and when the movement reaches the second preset height, the second driving assembly 24 drives the mounting platform 21 to move toward the tire blank along the extension direction of the guide channel 350, thereby driving the tire blank to move toward the cavity of the lower mold until the tire blank is loaded into the lower mold. Then, each clamping member 23 switches from an open state to a retracted state, so that each clamping member 23 is separated from the inner wall of the tire blank. Finally, the mounting structure 1 and the clamping structure 2 work in cooperation to move the grasping device 100 away from the vulcanization mold and back to the designated position.

[0064] The utility model also provides a tire loading and unloading device for a tire vulcanizer, such as Figure 4As shown in the figure, the tire loading and unloading device includes a moving device 200 and a grasping device 100. The moving device 200 is movably arranged along a preset trajectory. The grasping device 100 is the grasping device 100 of the above embodiment, and the grasping device 100 is movably arranged on the moving device 200 in the vertical direction and is located below the moving device 200. The moving device 200 drives the grasping device 100 to move along the preset trajectory. With such a structural arrangement, the combination of the moving device 200 and the grasping device 100 ensures the precise control of the tire product during the grasping and releasing processes, avoiding problems caused by position deviations. Moreover, the vertical moving ability of the grasping device 100 and the ability of the moving device 200 to move along the preset trajectory enable the device to maintain high precision during fine adjustments and adapt to tire products of different sizes and positions. At the same time, the dynamic adjustment of the grasping device 100 and the precise control of the moving device 200 ensure the stability of the tire product during grasping and moving, reducing the risk of dropping. In addition, the fast moving ability of the moving device 200 and the grasping device 100 enables the device to quickly respond to different operation requirements, reducing the waiting time and improving the work efficiency.

[0065] Further, the mounting structure 1 is movably arranged on the moving device 200 in the vertical direction.

[0066] Specifically, the moving device 200 includes a mounting arm 2001 and a moving arm 2002. The mounting arm 2001 extends in the vertical direction, and the grasping device 100 is movably arranged on the mounting arm 2001 in the vertical direction. The moving arm 2002 is movably arranged along the preset trajectory. The moving arm 2002 is connected to the mounting arm 2001, and the extending direction of the moving arm 2002 is perpendicular to the extending direction of the mounting arm 2001. The tire loading and unloading device further includes a guide rail cross beam 300 and a balance cross beam 400. Both the guide rail cross beam 300 and the balance cross beam 400 extend along the preset trajectory, and the guide rail cross beam 300 and the balance cross beam 400 are arranged at intervals in sequence along the extending direction of the moving arm 2002. The moving arm 2002 is movably arranged on the guide rail cross beam 300 along the extending direction of the guide rail cross beam 300, and one end of the moving arm 2002 far from the mounting arm 2001 is located below the balance cross beam 400. The balance cross beam 400 is used to keep the balance of the moving arm 2002. With such a structural arrangement, by setting the balance cross beam 400, the load of the moving arm 2002 during movement can be balanced, ensuring the stability of the center of gravity of the moving arm 2002 at different positions. And by setting the balance cross beam 400 at the other end of the moving arm 2002, the moving arm 2002 can be prevented from tilting or swaying due to uneven load during movement. In addition, the balance cross beam 400 also helps to evenly distribute the force on the moving arm 2002, reduce local stress concentration, and extend the service life of the device.

[0067] Further, on both sides of the end of the moving arm 2002 away from the mounting arm 2001, rotatable guide wheels 700 are provided. The guide wheels 700 are in rolling contact with the balance cross beam 400. Then, when the moving arm 2002 moves along a preset trajectory, the guide wheels 700 roll on the balance cross beam 400, ensuring the linearity and stability of the moving arm 2002 when moving along the preset trajectory. The rolling contact of the guide wheels 700 reduces the friction between the moving arm 2002 and the balance cross beam 400, reduces the movement resistance, and improves the moving efficiency. The setting of the guide wheels 700 helps to maintain the balance of the moving arm 2002 and reduce the shaking and tilting during the movement.

[0068] Specifically, the tire loading and unloading device further includes: a lifting device 500. The lifting device 500 is installed on the grasping device 100. The lifting rod of the lifting device 500 is connected to the moving device 200, and the lifting rod of the lifting device 500 is arranged to be vertically liftable relative to the moving device 200; so as to drive the grasping device 100 to move vertically through the lifting rod of the lifting device 500.

[0069] Optionally, the lifting rod of the lifting device 500 is a lead screw 5002. A lead screw nut 2003 adapted to the lead screw 5002 is provided on the moving device 200. The lead screw 5002 is in threaded cooperation with the lead screw nut 2003. The lifting device 500 further includes a driving member 5001. The driving member 5001 is installed on the mounting structure 1 (i.e., the grasping device 100), and the driving member 5001 is drivingly connected to the lead screw 5002. The driving member 5001 drives the lead screw 5002 to rotate, and then the lead screw 5002 reciprocates vertically relative to the moving device 200, thereby driving the grasping device 100 to reciprocate vertically.

[0070] Specifically, the tire loading and unloading device further includes: a balance pneumatic device 600. The balance pneumatic device 600 is arranged on the moving device 200, and the balance pneumatic device 600 is used to balance the load.

[0071] Optionally, the balance pneumatic device 600 is a balance cylinder. The body of the balance cylinder is installed on the moving arm 2002, and the free end of the driving rod of the balance cylinder is connected to the mounting arm 2001. The contraction direction of the driving rod of the balance cylinder is consistent with the extension direction of the mounting arm 2001. So as to bear the weight load of the moving device 200, the grasping device 100 and the tire through the inflation and deflation of the balance cylinder, ensure the stability of the center of gravity of the moving device 200 and the grasping device 100 at different positions, and thus enable the tire loading and unloading device to bear heavier tire products through the balance cylinder.

[0072] Optionally, the working process of the tire loading and unloading device for a tire vulcanizer is as follows:

[0073] Tire mounting process: The moving device 200 moves along a preset trajectory, driving the gripping device 100 to move above the tire embryo. The lifting device 500 drives the gripping device 100 to move downward, and then through the action of the gripping device 100, the gripping device 100 completes the work of gripping the tire embryo. After completion, the lifting device 500 drives the gripping device 100 and the tire embryo away from the position where the tire embryo is placed. During this process, the balancing pneumatic device 600 inflates or deflates according to the weight of the gripped tire embryo, so that the equipment is in a balanced state. When the lifting device 500 drives the gripping device 100 and the tire embryo to rise to the set height, the moving device 200 drives the gripping device 100 and the tire embryo to move towards the lower mold, so as to move the tire embryo above the lower mold. When the tire embryo moves above the lower mold, through the cooperative work of the gripping device 100 and the lifting device 500, the tire embryo is loaded into the lower mold. Finally, the tire mounting process is completed.

[0074] Tire unloading process: When the vulcanizer completes the vulcanization process and the vulcanization mold completes the mold opening process, the moving device 200 moves along a preset trajectory, driving the gripping device 100 to move above the tire and the lower mold. The lifting device 500 drives the gripping device 100 to move downward, and then through the action of the gripping device 100, the gripping device 100 completes the work of gripping the tire. After completion, the lifting device 500 drives the gripping device 100 and the tire away from the position where the lower mold is placed. During this process, the balancing pneumatic device 600 inflates or deflates according to the weight of the gripped tire, so that the equipment is in a balanced state. When the lifting device 500 drives the gripping device 100 and the tire to rise to the set height, the moving device 200 drives the gripping device 100 and the tire to move towards the tire unloading position, so as to move the tire above the tire unloading position. When the tire moves above the lower mold, through the cooperative work of the gripping device 100 and the lifting device 500, the tire is unloaded to the tire unloading position. Finally, the tire unloading process is completed.

[0075] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0076] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments, and details thereof are not described herein again.

[0077] The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0078] In the above embodiments of the present application, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0079] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A gripping device, the gripping device (100) being for gripping or releasing a tire product, characterized in that, The gripping device (100) includes: a mounting structure (1) for connecting with a structure to be connected, and the mounting structure (1) is movably arranged; a clamping structure (2) located below the mounting structure (1), and the clamping structure (2) is movably arranged for gripping or releasing the tire product; a gripping structure (3) mounted on the mounting structure (1) and located below the mounting structure (1); at least part of the gripping structure (3) is movably arranged relative to the mounting structure (1) for gripping or releasing the tire product; the clamping structure (2) is movably arranged on the gripping structure (3); wherein, the gripping structure (3) has a first avoidance state for avoiding the tire product, and the clamping structure (2) has a second avoidance state for avoiding the tire product; when the clamping structure (2) grips or releases the tire product, the gripping structure (3) is in the first avoidance state; when the gripping structure (3) grips or releases the tire product, the clamping structure (2) is in the second avoidance state.

2. The gripping device according to claim 1, characterized in that, The gripping structure (3) includes: a fixed disk (31) connected to the mounting structure (1) and located below the mounting structure (1); a plurality of tire-holding arms (32) arranged around the fixed disk (31), and the plurality of tire-holding arms (32) are all swingably arranged relative to the fixed disk (31); the plurality of tire-holding arms (32) have a holding state for holding the tire product and a spreading state for avoiding the tire product; wherein, when the clamping structure (2) grips or releases the tire product, the plurality of tire-holding arms (32) are in the spreading state, so that the gripping structure (3) is in the first avoidance state.

3. The gripping device according to claim 2, characterized in that, The gripping structure (3) further includes: a floating disk (33) movably arranged on the fixed disk (31) in the vertical direction, and the floating disk (33) is located between the fixed disk (31) and the mounting structure (1); the connecting ends (321) of the plurality of tire-holding arms (32) are all connected to the floating disk (33) to drive the plurality of tire-holding arms (32) to spread or close through the movement of the floating disk (33); a first driving assembly (34) arranged on the mounting structure (1), and the driving end of the first driving assembly (34) is drivingly connected to the floating disk (33) for driving the floating disk (33) to move in the vertical direction.

4. The gripping device according to claim 3, wherein A plurality of first avoidance grooves (331) are provided at the edge of the floating disk (33), and the plurality of first avoidance grooves (331) are evenly spaced along the circumferential direction of the floating disk (33); the plurality of first avoidance grooves (331) are arranged in one-to-one correspondence with the plurality of tire-holding arms (32), and the connecting end (321) of each tire-holding arm (32) is arranged in the corresponding first avoidance groove (331); each of the first avoidance grooves (331) extends along the circumferential direction of the floating disk (33). The grasping structure (3) further includes: a plurality of connecting shafts, the plurality of connecting shafts are arranged in one-to-one correspondence with the plurality of first avoidance grooves (331), and each connecting shaft is located in the corresponding first avoidance groove (331); both ends of each connecting shaft are respectively connected to the inner walls of the corresponding first avoidance groove (331); each tire-holding arm (32) is sleeved on the corresponding connecting shaft, and each tire-holding arm (32) is connected to the floating disk (33) through the corresponding connecting shaft. Wherein, a sliding groove (322) is provided on the connecting end (321) of each tire-holding arm (32), the sliding groove (322) extends along a preset direction, and the connecting shaft corresponding to each tire-holding arm (32) is slidably inserted into the sliding groove (322); when the floating disk (33) moves in the vertical direction, each connecting shaft slides along the extending direction of the corresponding sliding groove (322) to drive the connecting end (321) of the tire-holding arm (32) corresponding to each connecting shaft to rotate relative to the floating disk (33).

5. The gripping device according to claim 3, characterized in that, The grasping structure (3) further includes: a guiding shaft (35), the guiding shaft (35) is inserted through the fixed disk (31), and the guiding shaft (35) is coaxially arranged with the fixed disk (31); a guiding channel (350) is provided in the guiding shaft (35), and the guiding channel (350) extends along the axial direction of the guiding shaft (35); the clamping structure (2) is arranged on the guiding shaft (35), and at least part of the clamping structure (2) is movably inserted into the guiding channel (350) along the extending direction of the guiding channel (350). Wherein, a first avoidance hole (332) is provided on the floating disk (33) for avoiding at least part of the guiding shaft (35) and / or the clamping structure (2).

6. The grasping device according to claim 5, characterized in that, The clamping structure (2) includes: An installation platform (21), the installation platform (21) is movably arranged in the guiding channel (350) along the extending direction of the guiding channel (350). A support shaft (22), one end of the support shaft (22) is installed on the installation platform (21), the other end of the support shaft (22) passes through the guiding shaft (35) and faces the ground, and the support shaft (22) extends along the extending direction of the guiding channel (350). A plurality of clamping members (23), each of the plurality of clamping members (23) is arranged on the outer wall of the support shaft (22) in a telescopic manner, and the plurality of clamping members (23) are arranged around the support shaft (22) to form an annular structure for positioning the tire product; the plurality of clamping members (23) are used to be attached to and clamp the inner wall of the tire product or to be separated from the inner wall of the tire product. Wherein, when the grasping structure (3) grasps or releases the tire product, the plurality of clamping members (23) are all in a retracted state, and the mounting table (21) drives the support shaft (22) and the plurality of clamping members (23) to move away from the tire product, so that the clamping structure (2) is in the second avoidance state.

7. The gripping device according to claim 6, characterized in that, The clamping structure (2) further includes: a second driving assembly (24), the second driving assembly (24) is arranged on the guiding shaft (35); the second driving assembly (24) is drivingly connected to the mounting table (21), and the second driving assembly (24) is used to drive the mounting table (21) to move along the extending direction of the guiding channel (350).

8. A tire loading and unloading device for a tire vulcanizer, characterized in that, The tire loading and unloading device includes: A moving device (200), the moving device (200) is movably arranged along a preset track; A grasping device (100), the grasping device (100) is the grasping device (100) according to any one of claims 1 to 7, the grasping device (100) is movably arranged on the moving device (200) in the vertical direction, and the grasping device (100) is located below the moving device (200), and the moving device (200) drives the grasping device (100) to move along the preset track.

9. The tire loading and unloading device according to claim 8, wherein The moving device (200) includes a mounting arm (2001) and a moving arm (2002), the mounting arm (2001) extends in the vertical direction, and the grasping device (100) is movably arranged on the mounting arm (2001) in the vertical direction; the moving arm (2002) is movably arranged along the preset track, the moving arm (2002) is connected to the mounting arm (2001), and the extending direction of the moving arm (2002) is perpendicular to the extending direction of the mounting arm (2001). The tire loading and unloading device further includes a guide rail cross beam (300) and a balance cross beam (400). Both the guide rail cross beam (300) and the balance cross beam (400) extend along the preset trajectory, and the guide rail cross beam (300) and the balance cross beam (400) are sequentially arranged at intervals along the extending direction of the moving arm (2002). The moving arm (2002) is movably arranged on the guide rail cross beam (300) along the extending direction of the guide rail cross beam (300), and one end of the moving arm (2002) away from the mounting arm (2001) is located below the balance cross beam (400), and the balance cross beam (400) is used to maintain the balance of the moving arm (2002).

10. The tire mounting and dismounting device according to claim 8, characterized in that, The tire loading and unloading device further includes: a lifting device (500). The lifting device (500) is installed on the grasping device (100). The lifting rod of the lifting device (500) is connected to the moving device (200), and the lifting rod of the lifting device (500) is arranged to be vertically liftable relative to the moving device (200), so as to drive the grasping device (100) to move vertically through the lifting rod of the lifting device (500); and / or, a balance pneumatic device (600). The balance pneumatic device (600) is arranged on the moving device (200), and the balance pneumatic device (600) is used to balance the load.

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