Tire dismounting and mounting device

Abstract

The utility model provides a tire dismounting and mounting device. The tire dismounting and mounting device comprises a manipulator and a moving unit for driving the manipulator to move. The moving unit comprises a bottom support, and the mechanical arm is arranged on the top side of the bottom support. The manipulator comprises a base, a telescopic assembly, a pitching adjusting assembly, a horizontal adjusting assembly and a grabbing assembly. The base is fixed relative to the collet. The grabbing assembly is used for grabbing the tire. The telescopic assembly is located between the grabbing assembly and the base so as to drive the grabbing assembly to move in the telescopic direction of the telescopic assembly. The pitching adjusting assembly is connected between the telescopic assembly and the base and / or between the telescopic assembly and the grabbing assembly so as to drive the telescopic assembly and / or the grabbing assembly to swing up and down. The horizontal adjusting assembly is connected between the telescopic assembly and the grabbing assembly so as to drive the grabbing assembly to move in the first direction. According to the tire dismounting and mounting device, manual operation in the tire dismounting and mounting process can be reduced, the tire replacement difficulty is reduced, and the tire replacement convenience is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle maintenance equipment technology, and in particular to a tire removal and installation device. Background Technology

[0002] In related technologies, rubber-tired railcars, such as the Skyrail, use rubber tires. When changing the tires, a protective plate is usually installed on the outside of the tire, and the protective plate can only be rotated at a certain angle, which increases the difficulty of changing the tires. Utility Model Content

[0003] In view of this, the present application aims to provide a tire removal and installation device to reduce the difficulty of changing tires and improve the convenience of changing tires.

[0004] To achieve the above objectives, embodiments of this application provide a tire mounting and dismounting device, comprising:

[0005] The moving unit includes a base;

[0006] A robotic arm is mounted on the top side of the base, and the moving unit can drive the robotic arm to move, so as to realize the overall movement of the tire removal and installation device;

[0007] The robotic arm includes a base, a telescopic assembly, a pitch adjustment assembly, a horizontal adjustment assembly, and a gripping assembly. The base is fixed relative to the base support. The gripping assembly is used to grip a tire. The telescopic assembly is located between the gripping assembly and the base. The telescopic assembly can drive the gripping assembly to move along the telescopic direction of the telescopic assembly. The pitch adjustment assembly is connected between the telescopic assembly and the base and / or between the telescopic assembly and the gripping assembly to drive the telescopic assembly and / or the gripping assembly to swing up and down. The horizontal adjustment assembly is connected between the telescopic assembly and the gripping assembly to drive the gripping assembly to move along a first direction, wherein the first direction is perpendicular to the top and bottom direction of the tire mounting / dismounting device and intersects with the telescopic direction of the telescopic assembly.

[0008] In some embodiments, the pitch adjustment assembly includes a main arm and a first drive member. One end of the main arm is rotatably connected to the base, and the other end is connected to the telescopic assembly. The first drive member is driven to the main arm and is used to drive the main arm to swing up and down, thereby causing the telescopic assembly and the gripping assembly to swing up and down relative to the base.

[0009] In some embodiments, the pitch adjustment assembly includes a rocker arm and a second drive member. The rocker arm is disposed between the telescopic assembly and the gripping assembly. One end of the rocker arm is rotatably connected to the telescopic assembly, and the other end is connected to the gripping assembly. The second drive member is driven to the rocker arm and is used to drive the rocker arm to swing up and down, thereby causing the gripping assembly to swing up and down relative to the base.

[0010] In some embodiments, the first driving member includes a first driving cylinder, one end of which is connected to the base and the other end is rotatably connected to the main arm.

[0011] In some embodiments, the second driving member includes a second driving cylinder, one end of which is connected to the telescopic assembly and the other end is rotatably connected to the rocker arm.

[0012] In some embodiments, the telescopic assembly includes a telescopic arm and a telescopic drive. The telescopic arm is connected between the main arm and the rocker arm. One end of the telescopic drive is fixed to the main arm, and the other end is connected to the telescopic arm. The drive is used to drive the telescopic arm to extend away from the main arm or retract towards the main arm along the telescopic direction. The telescopic direction intersects with the top-bottom direction.

[0013] In some embodiments, the leveling assembly includes a handwheel, a lead screw, a slide, and a slider. The slide is fixed to the rocker arm, the lead screw passes through the slide along the first direction, the handwheel is connected to the end of the lead screw away from the slide along the first direction, the slider is disposed on the slide and cooperates with the lead screw, the handwheel can drive the lead screw to rotate to convert the rotation of the lead screw into the sliding of the slider, and the gripping assembly is connected to the slider.

[0014] In some embodiments, the gripping assembly includes a support rod, a connecting shaft, and a gripping arm, the gripping arm being used to grip the tire, one end of the support rod being connected to the leveling assembly, and the other end being connected to the gripping arm via the connecting shaft;

[0015] The gripper arm is rotatable relative to the support rod about the connecting shaft, wherein the extending direction of the connecting shaft is perpendicular to the extending direction of the gripper arm.

[0016] In some embodiments, the gripper arm includes at least two rotating arms and at least two grippers, one end of each rotating arm is rotatably connected to the connecting shaft, and the other end is rotatably connected to the gripper, and a gripping space is defined between each gripper for gripping a tire.

[0017] In some embodiments, any two of the rotating arms are fixed relative to each other.

[0018] In some embodiments, the gripper arm includes at least two gripping drive cylinders, one end of which is connected to the rotating arm and the other end is connected to the gripper, so as to drive the gripper to rotate in a direction away from each other or in a direction closer to each other.

[0019] In some embodiments, the tire removal and installation device includes a control cabinet disposed on the base and located on the side of the base away from the gripping assembly. The control cabinet is connected to at least the telescopic assembly, the pitch adjustment assembly, the level adjustment assembly, and the gripping assembly.

[0020] In some embodiments, the tire removal and installation device includes a battery pack disposed on the base for supplying power to at least the control cabinet.

[0021] The tire changing device provided in this application embodiment, by placing a robotic arm on the top side of the base, allows the moving unit to move in all directions, thereby achieving a wide range of omnidirectional movement for the entire tire changing device and improving its mobility. Furthermore, by connecting the pitch adjustment component between the telescopic component and the base and / or between the telescopic component and the gripping component, the pitch angle of the gripping component can be adjusted. Combined with the telescopic component's extension and retraction, this makes it easier for the gripping component to enter and exit the work space where the wheel hub is located between the track and the protective plate. The gripping component can also directly grip the tire and connect it to the wheel hub, reducing manual operation during tire changing. Simultaneously, the horizontal adjustment component increases the movement direction of the gripping component, improving the flexibility of its position adjustment, reducing the difficulty of tire changing, and enhancing the convenience of tire changing. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the tire removal and installation device in the embodiments of this application;

[0023] Figure 2 This is a schematic diagram of the tire removal and installation device in the embodiments of this application during tire removal and installation;

[0024] Figure 3 This is a schematic diagram of the tire mounting and dismounting device in an embodiment of this application from another perspective;

[0025] Figure 4 This is a schematic diagram of the robotic arm in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the gripping component and the horizontal adjustment component in the embodiments of this application.

[0027] Explanation of reference numerals in the attached figures

[0028] 10. Tire mounting / dismounting device; 11. Moving unit; 111. Base; 112. Walking element; 12. Robotic arm; 121. Base; 122. Telescopic assembly; 1221. Telescopic arm; 123. Pitch adjustment assembly; 1231. Main arm; 1232. First drive component; 1233. Rocker arm; 1234. Second drive component; 124. Horizontal adjustment assembly; 1241. Handwheel; 1242. Lead screw; 1243. Slide table; 1244. Slider; 125. Gripping assembly; 1251. Support rod; 1252. Connecting shaft; 1253. Gripping arm; 12531. Rotating arm; 12532. Gripper; 12533. Gripping drive cylinder; 13. Control cabinet; 14. Battery pack; 15. Hydraulic station; 20. Tire; 30. Body; 40. Protective plate; 50. Wheel hub; 60. Track. Detailed Implementation

[0029] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0030] In the description of the embodiments of this application, it should be noted that the terms "longitudinal," "upper," "lower," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0032] In related technologies, rubber-tired railcars, such as the Yunba, use rubber tires. When changing the tires, a protective plate is usually installed on the outside of the tire, and the protective plate can only be rotated at a certain angle. This results in a small working space at the wheel hub, increasing the difficulty of changing tires. At the same time, due to the small working space, manual disassembly and assembly are usually carried out, which is labor-intensive and inconvenient.

[0033] Based on the above, this application provides a tire mounting / removing device 10. Please refer to... Figures 1 to 5 The tire loading / unloading device 10 includes a moving unit 11 and a robotic arm 12. The moving unit 11 includes a base 111. The robotic arm 12 is disposed on the top side of the base 111. The moving unit 11 can drive the robotic arm 12 to move, thereby realizing the overall movement of the tire loading / unloading device 10. The robotic arm 12 includes a base 121, a telescopic component 122, a pitch adjustment component 123, a horizontal adjustment component 124, and a gripping component 125. The base 121 is fixed relative to the base 111. The gripping component 125 is used to grip the tire 20. The telescopic component 122 is located between the gripping component 125 and the base 121. The telescopic component 122 can drive the gripping component 125 to move along the telescopic direction of the telescopic component 122. The pitch adjustment component 123 is connected between the telescopic component 122 and the base 121 and / or between the telescopic component 122 and the gripping component 125, so as to drive the telescopic component 122 and / or the gripping component 125 to swing up and down. The horizontal adjustment component 124 is connected between the telescopic component 122 and the gripping component 125 to drive the gripping component 125 to move along a first direction. The first direction is perpendicular to the top and bottom direction of the tire removal and installation device 10 and intersects with the telescopic direction of the telescopic component 122.

[0034] It should be noted that the tire removal and installation device 10 can be used to remove or install tires of different vehicles such as automobiles, Skybuses, and trams. This application embodiment uses the removal or installation of Skybus tires as an example for illustration.

[0035] Please see Figure 2 , Figure 2 This is a schematic diagram illustrating the scenario of the tire removal and installation device 10 changing the tire 20 of the Skybus. The Skybus's protective plate 40 is positioned on the outside of the tire 20 to protect both the tire 20 and the chassis of the vehicle body 30. When changing the tire 20, the protective plate 40 can only rotate a certain angle relative to the vehicle body 30. The gripping component 125 needs to grip the tire 20 while simultaneously extending from between the track 60 and the protective plate 40 into the working space where the wheel hub 50 is located to install or remove the tire 20.

[0036] The moving unit 11 includes a base 111, a robotic arm 12 disposed on the top side of the base 111, and a base 121 fixed relative to the base 111. That is, the base 111 is fixedly connected to the base 121 to fix the robotic arm 12 and provide support for the robotic arm 12, so that the entire tire removal and installation device 10 can be moved by moving the base 111.

[0037] The moving unit 11 can drive the robotic arm 12 to move, thereby realizing the overall movement of the tire removal and installation device 10. Here, the moving unit 11 can perform omnidirectional movement, thus realizing the overall omnidirectional movement of the tire removal and installation device 10. The moving unit 11 can realize a large range of movement of the tire removal and installation device 10, thereby enabling the tire removal and installation device 10 to be moved from the removal and installation position of one tire 20 to the removal and installation position of any other tire 20.

[0038] For example, the moving unit 11 further includes a traveling element 112, at least a portion of which is disposed below the base 111 to support and move the base 111, thereby enabling the movement of the tire mounting / removing device 10. It should be noted that the traveling element 112 can be detached from the base 111 and used to drive other bases 111, which can increase the flexibility of the traveling element 112.

[0039] For example, the mobile unit 11 also includes a traveling element 112, which is a manual hydraulic forklift or a flatbed truck.

[0040] The telescopic component 122 is located between the gripping component 125 and the base 121. The telescopic component 122 can drive the gripping component 125 to move along the telescopic direction of the telescopic component 122. That is, one end of the telescopic component 122 is connected to the gripping component 125, and the other end can move relative to the base 121, thereby driving the gripping component 125 away from or closer to the base 121, thus forming the telescopic extension of the telescopic component 122.

[0041] It should be noted that different components have different inherent dimensions (length, width, and thickness). The length, width, and thickness of an object are usually determined according to its maximum extension direction. Generally, length > width > thickness.

[0042] For example, the base 111 is square, and the width direction of the base 111 is perpendicular to the telescopic direction of the telescopic component 122. Thus, the telescopic component 122 can drive the gripping component 125 to move along the length direction of the base 111, along the top and bottom direction, or simultaneously along the length direction and the top and bottom direction of the base 111.

[0043] This application uses a square base 111 as an example, with the width direction of the base 111 perpendicular to the telescopic direction of the telescopic component 122.

[0044] It should be noted that the vertical swing angle of the pitch adjustment component 123 between the telescopic component 122 and the base 121 determines the telescopic direction of the telescopic component 122. The telescopic direction of the telescopic component 122 can be parallel to the length direction of the base 111, or it can have a certain angle with the length direction of the base 111, thereby achieving tilting upward and tilting downward. Tilting upward can drive the gripping component 125 to enter and exit the working space where the wheel hub 50 is located; tilting downward can drive the gripping component 125 to put down the removed tire 20 or pick up the new tire 20 to be replaced.

[0045] The pitch adjustment component 123 is connected between the telescopic component 122 and the base 121 and / or between the telescopic component 122 and the gripping component 125. This means that the pitch adjustment component 123 can be set only between the telescopic component 122 and the base 121, or only between the telescopic component 122 and the gripping component 125, or simultaneously set between the telescopic component 122 and the base 121, and between the telescopic component 122 and the gripping component 125.

[0046] The pitch adjustment component 123 is connected between the telescopic component 122 and the base 121, and can drive the telescopic component 122 to swing up and down relative to the base 121, thereby realizing the overall pitch adjustment of the telescopic component 122 and the gripping component 125. Here, the user can adjust the overall height position of the telescopic component 122 and the gripping component 125 through the pitch adjustment component 123 between the telescopic component 122 and the base 121, so that the gripping component 125 can operate at different heights.

[0047] The pitch adjustment component 123 is connected between the telescopic component 122 and the gripping component 125, and can drive the gripping component 125 to swing up and down relative to the telescopic component 122, thereby realizing the pitch adjustment of the gripping component 125.

[0048] from Figure 2As can be seen, during the process of gripping the tire 20 into and out of the working space where the wheel hub 50 is located, the gripping component 125 and the tire 20 are prone to interference with the protective plate 40 or the track 60. By connecting the pitch adjustment component 123 between the telescopic component 122 and the gripping component 125, the gripping component 125 can adjust its pitch angle relative to the telescopic component 122, making it easier for the gripping component 125 to carry the tire 20 into and out of the working space where the wheel hub 50 is located. At the same time, when the gripping component 125 enters the working space where the wheel hub 50 is located, the pitch adjustment component 123 between the telescopic component 122 and the gripping component 125 can straighten the gripping component 125 by adjusting its pitch angle. In this way, when removing the tire 20 from the wheel hub 50, the stability and accuracy of the gripping component 125 gripping the tire 20 from the wheel hub 50 can be improved. When installing the tire 20, the mounting surface of the tire 20 can fit closely with the mounting surface of the wheel hub 50, reducing the manual operation during the tire 20 removal and installation process.

[0049] Here, after the gripping component 125 adjusts its pitch angle relative to the telescopic component 122, and in conjunction with the upward extension and retraction of the telescopic component 122, the gripping component 125 can enter and exit the working space where the wheel hub 50 is located simply by extending and retracting the telescopic component 122, making the tire changing process simpler.

[0050] The horizontal adjustment component 124 is connected between the telescopic component 122 and the gripping component 125 to drive the gripping component 125 to move along the first direction. Here, since the first direction is perpendicular to the top and bottom direction of the tire removal and installation device 10 and intersects with the telescopic direction of the telescopic component 122, that is, the adjustment direction of the horizontal adjustment component 124, i.e. the first direction, is not parallel to the telescopic direction of the telescopic component 122. The horizontal adjustment component 124 enables the gripping component 125 to move and adjust in directions other than the telescopic direction of the telescopic component 122, thereby improving the adjustment flexibility of the gripping component 125.

[0051] It should be noted that the first direction can be the longitudinal direction of the Skybus body (30).

[0052] For example, the first direction is perpendicular to the telescopic direction of the telescopic component 122.

[0053] For example, the top surface of the base 111 is parallel to the horizontal plane, the first direction is parallel to the width direction of the base 111, the length direction of the base 111 is perpendicular to the first direction, and the top and bottom directions of the tire removal and installation device 10 are perpendicular to the length direction of the base 111.

[0054] This application describes an embodiment where the first direction is parallel to the width direction of the base 111.

[0055] The tire removal and installation device 10 provided in this application embodiment, by setting the robotic arm 12 on the top side of the base 111, allows the moving unit 11 to move in all directions, thereby realizing a large range of omnidirectional movement of the entire tire removal and installation device 10, which can improve the flexibility of the tire removal and installation device 10. In addition, by connecting the pitch adjustment component 123 between the telescopic component 122 and the base 121 and / or between the telescopic component 122 and the gripping component 125, the pitch angle of the gripping component 125 can be adjusted. With the telescopic component 122 extending and retracting, the gripping component 125 can more easily enter and exit the working space where the wheel hub 50 is located between the track 60 and the protective plate 40. The gripping component 125 can also directly grip the tire 20 and dock it with the wheel hub 50, reducing manual operation during the tire removal and installation process. At the same time, the setting of the horizontal adjustment component 124 can increase the movement direction of the gripping component 125, improve the flexibility of the position adjustment of the gripping component 125, reduce the difficulty of changing the tire 20, and improve the convenience of changing the tire 20.

[0056] In some embodiments, please refer to Figures 1 to 4 The pitch adjustment assembly 123 includes a main arm 1231 and a first drive member 1232. One end of the main arm 1231 is rotatably connected to the base 121, and the other end is connected to the telescopic assembly 122. The first drive member 1232 is drivenly connected to the main arm 1231 and is used to drive the main arm 1231 to swing up and down, so as to drive the telescopic assembly 122 and the gripping assembly 125 to swing up and down relative to the base 121.

[0057] One end of the main arm 1231 is rotatably connected to the base 121, that is, a rotating pair is formed between one end of the main arm 1231 and the base 121. So when the first driving member 1232 drives the end of the main arm 1231 close to the base 121 to rotate relative to the base 121, the main arm 1231 as a whole swings up and down relative to the base 121. This causes the end of the main arm 1231 away from the base 121 to swing up and down through the connection with the telescopic component 122.

[0058] For example, one end of the main arm 1231 is hinged to the base 121.

[0059] Here, taking the main boom 1231 rotating to a horizontal position as a reference, the main boom 1231 can swing upwards and downwards at a certain angle. Typically, the upward swing angle can be set as a positive angle, and the downward swing angle can be set as a negative angle. It can be understood that the rotation angle of the main boom 1231 relative to the base 121 determines the extension and retraction direction of the telescopic assembly 122.

[0060] For example, when the main arm 1231 rotates to a positive angle and the angle is acute, the telescopic component 122 extends in an upward direction and intersects with the length direction of the base 111. At this time, the tire removal and installation device 10 can be used to drive the gripping component 125 into the space where the wheel hub 50 is located to perform tire replacement 20 operation. When the main arm 1231 rotates to a negative angle and the angle is acute, the telescopic component 122 extends in an downward direction. At this time, the tire removal and installation device 10 can put down the gripped tire 20 or grip the tire 20 that needs to be replaced.

[0061] Here, by setting a main arm 1231 and a first driving member 1232 between the telescopic component 122 and the base 121, one end of the main arm 1231 is rotatably connected to the base 121. Thus, when the first driving member 1232 drives the end of the main arm 1231 close to the base 121 to rotate relative to the base 121, the main arm 1231 as a whole can swing up and down relative to the base 121. This causes the end of the main arm 1231 away from the base 121 to swing up and down as a whole through its connection with the telescopic component 122.

[0062] The specific construction of the pitch adjustment component 123 is not limited.

[0063] In some embodiments, please refer to Figures 1 to 4 The pitch adjustment assembly 123 includes a rocker arm 1233 and a second drive member 1234. The rocker arm 1233 is disposed between the telescopic assembly 122 and the gripping assembly 125. One end of the rocker arm 1233 is rotatably connected to the telescopic assembly 122, and the other end is connected to the gripping assembly 125. The second drive member 1234 is drivenly connected to the rocker arm 1233 and is used to drive the rocker arm 1233 to swing up and down, thereby causing the gripping assembly 125 to swing up and down relative to the base 121.

[0064] The rocker arm 1233 is disposed between the telescopic component 122 and the gripping component 125, thereby transitionally connecting the telescopic component 122 and the gripping component 125.

[0065] One end of the rocker arm 1233 is rotatably connected to the telescopic component 122, that is, a rotating pair is formed between one end of the rocker arm 1233 and the telescopic component 122. Thus, when the second drive member 1234 drives the end of the rocker arm 1233 close to the telescopic component 122 to rotate relative to the telescopic component 122, the rocker arm 1233 as a whole swings up and down relative to the telescopic component 122. This allows the end of the rocker arm 1233 away from the telescopic component 122 to swing up and down only through the connection with the gripping component 125, thereby realizing the pitch adjustment of the remote end of the robot arm 12.

[0066] For example, one end of the rocker arm 1233 is hinged to the telescopic assembly 122.

[0067] In this embodiment, by setting a main arm 1231 and a first drive member 1232 between the telescopic component 122 and the base 121, the first drive member 1232 can be controlled to drive the end of the main arm 1231 near the base 121 to rotate relative to the base 121, thereby causing the telescopic component 122 and the gripping component 125 to swing up and down as a whole, thus realizing the pitch angle adjustment of the robot arm 12 at the end near the base 121. A rocker arm 1233 and a second drive member 1234 are set between the telescopic component 122 and the gripping component 125, so that the second drive member 1234 can be controlled to drive the rocker arm 1233 to rotate relative to the telescopic component 122, thereby only causing the gripping component 125 to swing up and down, thus realizing the pitch angle adjustment of the robot arm 12 at the far end. In this way, the robot arm 12 can adjust the pitch angle at both the near end and the far end, which can increase the degree of freedom of the robot arm 12 and improve the flexibility of the robot arm 12 adjustment.

[0068] In some embodiments, please refer to Figures 1 to 4 The first driving component 1232 includes a first driving cylinder, one end of which is connected to the base 121 and the other end is rotatably connected to the main arm 1231.

[0069] It should be noted that the first drive cylinder can be an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder, etc., and there are no restrictions here.

[0070] Understandably, the first drive cylinder includes a cylinder body and a piston rod, with the piston rod capable of linear extension and retraction relative to the cylinder body. The first drive cylinder can convert electrical energy, hydraulic energy, or pneumatic energy into mechanical energy.

[0071] One end of the first drive cylinder is connected to the base 121, and the other end is rotatably connected to the main arm 1231. This means that one of the cylinder body and piston rod of the first drive cylinder forms a rotating pair with the base 121 or the two are fixed together, while the other forms a rotating pair with the main arm 1231.

[0072] Here, by connecting the first drive cylinder to the base 121 and the main boom 1231 respectively, and rotatably connecting the main boom 1231 to the base 121, the linear motion of the first drive cylinder can be converted into the pitching and swaying of the main boom 1231. The linear extension and retraction of the first drive cylinder is simpler and easier to control, and at the same time, it can improve the reliability of the pitch adjustment assembly 123 set between the main boom 1231 and the base 121.

[0073] For example, the first driving member 1232 further includes a first sliding member. One end of the first driving cylinder is fixedly connected to the base 121, and the other end is rotatably connected to the first sliding member. The first sliding member and the main arm 1231 form a sliding fit, that is, there are both a rotating pair and a sliding pair between the first driving cylinder and the main arm 1231. At the same time, the main arm 1231 is rotatably connected to the base 121. Thus, the linear extension and retraction motion of the first driving cylinder can drive the first sliding member to slide relative to the main arm 1231, and at the same time drive the main arm 1231 to rotate around the connection point where it is rotatably connected to the base 121.

[0074] For example, one of the cylinder body and piston rod of the first drive cylinder is rotatably connected to the base 121, and the other is rotatably connected to the main arm 1231. Simultaneously, the main arm 1231 is rotatably connected to the base 121. Thus, relative rotation can occur between the main arm 1231, the base 121, and the first drive cylinder. The linear extension and retraction motion of the first drive cylinder can drive the main arm 1231 to rotate around the connection point rotatably connected to the base 121. Simultaneously, it can also drive one of the cylinder body and piston rod of the first drive cylinder to rotate relative to the base 121, and the other relative to the main arm 1231. The transmission structure between the first drive cylinder, the main arm 1231, and the base 121 is simpler and more reliable, with less loss during transmission.

[0075] In some embodiments, please refer to Figures 1 to 4 The second driving component 1234 includes a second driving cylinder, one end of which is connected to the telescopic assembly 122, and the other end is rotatably connected to the rocker arm 1233.

[0076] It should be noted that the second drive cylinder can be an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder, etc., and there are no restrictions here.

[0077] Understandably, the second drive cylinder may also include a cylinder body and a piston rod, with the piston rod capable of linear extension and retraction relative to the cylinder body. The second drive cylinder can convert electrical, hydraulic, or pneumatic energy into mechanical energy.

[0078] One end of the second drive cylinder is connected to the telescopic assembly 122, and the other end is rotatably connected to the rocker arm 1233. This means that one of the cylinder body and piston rod of the second drive cylinder forms a rotating pair with the telescopic assembly 122 or the two are fixed together, while the other forms a rotating pair with the rocker arm 1233.

[0079] Thus, by connecting the second drive cylinder to the telescopic assembly 122 and the rocker arm 1233 respectively, and simultaneously rotatably connecting the rocker arm 1233 to the telescopic assembly 122, the linear motion of the second drive cylinder can be converted into the up-and-down pitching swing of the rocker arm 1233. The linear telescopic motion of the second drive cylinder is simpler and easier to control, thereby improving the reliability of the pitch adjustment assembly 123 between the telescopic assembly 122 and the gripping assembly 125.

[0080] For example, the second driving member 1234 further includes a second sliding member. One end of the second driving cylinder is fixedly connected to the telescopic assembly 122, and the other end is rotatably connected to the second sliding member. The second sliding member and the rocker arm 1233 form a sliding fit, that is, there are both a rotating joint and a sliding joint between the second driving cylinder and the rocker arm 1233. At the same time, the rocker arm 1233 is rotatably connected to the telescopic assembly 122. Thus, the linear telescopic movement of the second driving cylinder can drive the second sliding member to slide relative to the rocker arm 1233, and at the same time drive the rocker arm 1233 to rotate around the connection point where it is rotatably connected to the telescopic assembly 122.

[0081] For example, one of the cylinder body and piston rod of the second drive cylinder is rotatably connected to the telescopic assembly 122, and the other is rotatably connected to the rocker arm 1233. Simultaneously, the rocker arm 1233 is rotatably connected to the telescopic assembly 122. Thus, relative rotation can occur between each pair of the second drive cylinder, the rocker arm 1233, and the telescopic assembly 122. The linear telescopic motion of the second drive cylinder can drive the rocker arm 1233 to rotate around the connection point rotatably connected to the telescopic assembly 122, and simultaneously drive one of the cylinder body and piston rod of the second drive cylinder to rotate relative to the telescopic assembly 122, and the other relative to the rocker arm 1233. The transmission structure between the second drive cylinder, the rocker arm 1233, and the telescopic assembly 122 is simpler and more reliable, with less loss during transmission.

[0082] The specific construction of the telescopic component 122 is not limited.

[0083] In some embodiments, please refer to Figures 1 to 4 The telescopic assembly 122 includes a telescopic arm 1221 and a telescopic drive component. The telescopic arm 1221 is connected between the main arm 1231 and the rocker arm 1233. One end of the telescopic drive component is fixed to the main arm 1231, and the other end is connected to the telescopic arm 1221, for driving the telescopic arm 1221 to extend away from the main arm 1231 or retract towards the main arm 1231 in the telescopic direction. The telescopic direction intersects with the top-bottom direction.

[0084] It should be noted that the telescopic drive component can be an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder, etc., and there are no restrictions here.

[0085] Understandably, a telescopic actuator can include a cylinder and a piston rod, with the piston rod capable of linear extension and retraction relative to the cylinder. The telescopic actuator can convert electrical, hydraulic, or pneumatic energy into mechanical energy.

[0086] One end of the telescopic drive is fixed to the main arm 1231, and the other end is connected to the telescopic arm 1221. It is used to drive the telescopic arm 1221 to extend away from the main arm 1231 or retract towards the main arm 1231 in the telescopic direction. This means that at least a part of the main arm 1231 is sleeved on the telescopic arm 1221 and forms a sliding fit with the telescopic arm 1221. The cylinder and piston rod of the telescopic drive are connected to the main arm 1231 and the telescopic arm 1221 respectively. In this way, the linear motion of the telescopic drive can be converted into the telescopic motion of the telescopic arm 1221.

[0087] The direction of extension intersects with the top and bottom directions, meaning the direction of extension can be perpendicular to or not perpendicular to the top and bottom directions.

[0088] For example, the telescopic drive is built into the main arm 1231, and one of the cylinder and piston rod of the telescopic drive is connected to the inner wall of the main arm 1231, while the other is connected to the end of the telescopic arm 1221 near the end of the main arm 1231.

[0089] The specific construction of the horizontal adjustment component 124 is not limited.

[0090] In some embodiments, please refer to Figures 1 to 5 The horizontal adjustment assembly 124 includes a handwheel 1241, a lead screw 1242, a slide 1243, and a slider 1244. The slide 1243 is fixed to the rocker arm 1233. The lead screw 1242 passes through the slide 1243 along a first direction. The handwheel 1241 is connected to the end of the lead screw 1242 away from the slide 1243 along the first direction. The slider 1244 is disposed on the slide 1243 and cooperates with the lead screw 1242. The handwheel 1241 can drive the lead screw 1242 to rotate, thereby converting the rotation of the lead screw 1242 into the sliding of the slider 1244. The gripping assembly 125 is connected to the slider 1244.

[0091] It should be noted that in this embodiment, the horizontal adjustment component 124 is a lead screw 1242 slider 1244 mechanism, which can convert rotational motion into linear motion, or vice versa. Typically, the lead screw 1242 slider 1244 mechanism also includes balls or rollers. It is understood that the outer surface of the lead screw 1242 has an outer helical raceway, and the inner hole of the slider 1244 has an inner helical raceway. The balls or rollers roll within the raceway between the lead screw 1242 and the slider 1244, thereby ensuring that the frictional force between the lead screw 1242 and the slider 1244 is rolling friction when they move relative to each other, thus improving transmission efficiency.

[0092] It should be noted that the number of handwheels 1241 can be one, two, or three.

[0093] For example, there is one handwheel 1241, which is located at one end of the lead screw 1242 along the first direction.

[0094] For example, there are two handwheels 1241, which are respectively located at both ends of the lead screw 1242 along the first direction.

[0095] The handwheel 1241 is connected to the end of the lead screw 1242 away from the slide table 1243 along the first direction. In other words, the handwheel 1241 is located outside the slide table 1243, providing operating space for the user to turn the handwheel 1241, which is beneficial to the user's operation.

[0096] The lead screw 1242 is inserted into the slide table 1243 along the first direction, meaning that at least a portion of the lead screw 1242 is located within the slide table 1243. The lead screw 1242 and the slide table 1243 form a rotatable connection, that is, the lead screw 1242 can rotate relative to the slide table 1243. At the same time, the slide table 1243 forms a limiting structure for the lead screw 1242 in the first direction. Thus, when the handwheel 1241 drives the lead screw 1242 to rotate, the lead screw 1242 only rotates relative to the slide table 1243 and has no displacement in the first direction.

[0097] The slider 1244 is disposed on the slide table 1243 and cooperates with the lead screw 1242. This means that at least a portion of the slider 1244 is disposed within the slide table 1243 and forms a transmission cooperation with the lead screw 1242 located within the slide table 1243. Here, the slide table 1243 at least limits the slider 1244 in the rotational direction around the lead screw 1242, thereby preventing the slider 1244 from rotating around the lead screw 1242. When the rotational motion of the lead screw 1242 relative to the slide table 1243 is transmitted to the slider 1244, the slider 1244 itself has a tendency to rotate around the lead screw 1242. However, the limitation of the slider 1244 by the slide table 1243 in the rotational direction causes the rotational motion tendency of the slider 1244 to be converted into sliding along the first direction, thereby driving the gripping component 125 connected to the slider 1244 to move along the first direction.

[0098] In this embodiment, by setting the horizontal adjustment component 124 as a lead screw 1242 slider 1244 mechanism, the user can manually adjust the position of the gripping component 125 in the first direction by using the handwheel 1241, thereby achieving stepless adjustment in the first direction within a small range. This facilitates the alignment of the mounting holes on the tire 20 with the mounting holes on the wheel hub 50, and improves the flexibility of tire 20 position adjustment during tire 20 installation.

[0099] The specific construction of the grabbing component 125 is not limited.

[0100] In some embodiments, please refer to Figures 1 to 5 The gripping assembly 125 includes a support rod 1251, a connecting shaft 1252, and a gripping arm 1253. The gripping arm 1253 is used to grip the tire 20. One end of the support rod 1251 is connected to the leveling assembly 124, and the other end is connected to the gripping arm 1253 via the connecting shaft 1252. The gripping arm 1253 is rotatable relative to the support rod 1251 about the connecting shaft 1252. The extending direction of the connecting shaft 1252 is perpendicular to the extending direction of the gripping arm 1253.

[0101] The gripper arm 1253 can rotate relative to the support rod 1251 around the connecting shaft 1252. That is, the gripper arm 1253 is rotatably connected to the connecting shaft 1252, and the gripper arm 1253 can rotate a certain angle relative to the connecting shaft 1252. This makes it easier to rotate the tire 20 by rotating the gripper arm 1253 when installing the tire 20, so that the mounting holes on the tire 20 can be aligned with the mounting holes on the wheel hub 50, thus improving the convenience of tire 20 installation.

[0102] Here, the rotation of the grab arm 1253 can be driven manually.

[0103] For example, the angle at which the gripper arm 1253 rotates relative to the connecting shaft 1252 can be greater than or equal to the minimum angle between two adjacent mounting holes on the tire 20.

[0104] In some embodiments, please refer to Figures 1 to 5 The gripper arm 1253 includes at least two rotating arms 12531 and at least two grippers 12532. One end of each rotating arm 12531 is rotatably connected to a connecting shaft 1252, and the other end is rotatably connected to a gripper 12532. A gripping space is defined between each gripper 12532 for gripping the tire 20.

[0105] It should be noted that the number of grippers 12532 can be two, three, four, five, six, or seven, etc., and there is no limitation here. The number of rotating arms 12531 can also be two, three, four, five, six, or seven, etc., and there is no limitation here.

[0106] The number of rotating arms 12531 can correspond one-to-one with the number of grippers 12532.

[0107] One end of each rotating arm 12531 is rotatably connected to the connecting shaft 1252, and the other end is rotatably connected to the gripper 12532. This means that one end of each rotating arm 12531 forms a rotating pair with the connecting shaft 1252, and the other end forms a rotating pair with a gripper 12532. This allows each rotating arm 12531 to rotate independently relative to the connecting shaft 1252, or multiple rotating arms 12531 to rotate simultaneously relative to the connecting shaft 1252. No restrictions are imposed here.

[0108] Any two rotating arms 12531 can rotate relative to each other or remain relatively fixed; there are no restrictions on this.

[0109] By setting at least two rotating arms 12531 and two grippers 12532, the gripper arm 1253 can clamp the tire 20, thereby improving the stability and reliability of the gripper arm 1253 in gripping the tire 20.

[0110] In some embodiments, any two rotating arms 12531 are fixed relative to each other.

[0111] In other words, each rotating arm 12531 rotates in the same direction relative to the connecting shaft 1252 simultaneously. This ensures that when at least two grippers 12532 are gripping the tire 20, the rotating arm 12531 will not rotate relative to the other rotating arms 12531 around the connecting shaft 1252, and there will be no relative movement between the grippers 12532 and the tire 20. This will not change the contact point between the grippers 12532 and the tire 20, thereby improving the stability and reliability of the grippers 12532 gripping the tire 20.

[0112] For example, there are two rotating arms 12531 and two grippers 12532. The two rotating arms 12531 are fixed relative to each other, and the extension directions of the two rotating arms 12531 are collinear and pass through the axis of the connecting shaft 1252. In this way, when the grippers 12532 grip the tire 20, they can grip it radially. With two grippers 12532, the stability of the gripper arm 1253 gripping the tire 20 can be improved.

[0113] In some embodiments, please refer to Figures 1 to 5 The gripper arm 1253 includes at least two gripping drive cylinders 12533. One end of the gripping drive cylinder 12533 ​​is connected to the rotating arm 12531, and the other end is connected to the gripper 12532 to drive the gripper 12532 to rotate in a direction away from each other or in a direction closer to each other.

[0114] It should be noted that the gripping drive cylinder 12533 ​​can be an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder, etc., and there are no restrictions here.

[0115] Understandably, the gripping drive cylinder 12533 ​​includes a cylinder body and a piston rod, the piston rod being capable of linear extension and retraction relative to the cylinder body. The gripping drive cylinder 12533 ​​is capable of converting electrical energy, hydraulic energy, or pneumatic energy into mechanical energy.

[0116] It should be noted that the connection between the gripping drive cylinder 12533 ​​and the rotating arm 12531 can be a rotatable connection, and the connection between the gripping drive cylinder 12533 ​​and the gripper 12532 can also be a rotatable connection; no restrictions are imposed here.

[0117] For example, one of the cylinder body and piston rod of the gripping drive cylinder 12533 ​​is rotatably connected to the rotating arm 12531, and the other is rotatably connected to the gripper 12532. Thus, the drive cylinder 12533, the rotating arm 12531, and the gripper 12532 can all rotate relative to each other. The linear extension and retraction motion of the gripping drive cylinder 12533 ​​can drive the gripper 12532 to rotate around the connection point rotatably connected to the rotating arm 12531. Simultaneously, it can also drive one of the cylinder body and piston rod of the gripping drive cylinder 12533 ​​to rotate relative to the rotating arm 12531, and the other relative to the gripper 12532. The transmission structure between the gripping drive cylinder 12533, the rotating arm 12531, and the gripper 12532 is simpler and more reliable, with less loss during transmission.

[0118] Here, the gripping drive cylinder 12533 ​​is connected to the rotating arm 12531 and the gripper 12532 respectively. At the same time, the rotating arm 12531 and the gripper 12532 are rotatably connected. The linear motion of the gripping drive cylinder 12533 ​​can drive the gripper 12532 to rotate around the connection point where it is rotatably connected to the rotating arm 12531, thereby driving the gripper 12532 to rotate in a direction away from each other or in a direction closer to each other, so as to realize the picking and putting of the tire 20.

[0119] In some embodiments, please refer to Figures 1 to 4 The tire mounting / removing device 10 includes a control cabinet 13. The control cabinet 13 is mounted on the base 111 and located on the side of the base 121 opposite to the gripping assembly 125. The control cabinet 13 is connected to at least the telescopic assembly 122, the pitch adjustment assembly 123, the horizontal adjustment assembly 124, and the gripping assembly 125.

[0120] Understandably, when the gripping component 125 grips the tire 20, the center of gravity of the tire removal and installation device 10 tends to be close to one end of the gripping component 125. In this embodiment, the control cabinet 13 is located on the base 111 and on the side of the base 121 away from the gripping component 125. That is, the control cabinet 13 is located on the side of the tire removal and installation device 10 away from the gripping component 125. The weight of the control cabinet 13 can balance the center of gravity of the tire removal and installation device 10, thus improving the situation where the tire removal and installation device 10 tends to tip over towards one end of the gripping component 125 due to the shift in the center of gravity of the tire removal and installation device 10.

[0121] It should be noted that the connection between the control cabinet 13 and the telescopic assembly 122, the pitch adjustment assembly 123, the horizontal adjustment assembly 124, and the gripping assembly 125 can be direct or indirect. Direct connection can be an electrical connection; indirect connection can be achieved by the control cabinet 13 connecting to a hydraulic valve, thereby indirectly controlling the movement of the telescopic assembly 122, the pitch adjustment assembly 123, the horizontal adjustment assembly 124, or the gripping assembly 125 via hydraulic oil. No restrictions are placed on this.

[0122] It should be noted that the control cabinet 13 also has an operation panel, through which the user can input operation commands to cause the control cabinet 13 to output control signals to control at least the telescopic component 122, the pitch adjustment component 123, the horizontal adjustment component 124, and the gripping component 125.

[0123] For example, the control panel can also display the operating status of the tire removal and installation device 10.

[0124] For example, at least one of the first drive cylinder, the second drive cylinder, the telescopic drive member, and the gripping drive cylinder 12533 ​​is an electrically driven element, i.e., an electric cylinder. The control cabinet 13 is electrically connected to the electric cylinder, and the control cabinet 13 can provide control signals to the electric cylinder, enabling the user to control the movement of the electric cylinder through the control cabinet 13.

[0125] Here, the control cabinet 13 is mounted on the base 111 and located on the side of the base 121 away from the gripping component 125. The weight of the control cabinet 13 can balance the center of gravity of the tire changing device 10, improving the situation where the tire changing device 10 is prone to tipping towards the gripping component 125 due to the offset of the center of gravity. The control cabinet 13 is connected to at least the telescopic component 122, the pitch adjustment component 123, the horizontal adjustment component 124, and the gripping component 125. In this way, the control cabinet 13 is integrated on the base 111, which can increase the compactness and integrity of the tire changing device 10, which is beneficial to the movement and operation of the tire changing device 10.

[0126] In some embodiments, please refer to Figures 1 to 4 The tire mounting / removing device 10 includes a hydraulic station 15. The hydraulic station 15 is mounted on a base 111. The hydraulic station 15 includes a hydraulic pump, an electric motor, and hydraulic valves. The electric motor provides mechanical energy to the hydraulic pump, which converts the mechanical energy into hydraulic energy in the hydraulic oil. The hydraulic station 15 is fluidly connected to a hydraulic actuator via input and output oil lines. The hydraulic actuator converts the hydraulic energy of the hydraulic oil into mechanical energy. The hydraulic valves control the input and output oil lines of the hydraulic station 15, thereby controlling the hydraulic actuator.

[0127] It should be noted that the tire changing device 10 also includes hydraulic pipes. The hydraulic pump, hydraulic valves, hydraulic pipes, and hydraulic actuators constitute the hydraulic system of the tire changing device 10. The hydraulic system uses hydraulic oil as a medium for energy transfer, converting the hydraulic energy of the hydraulic oil in the hydraulic system into mechanical energy through the hydraulic actuators. The hydraulic actuators can be at least one of the following: a first drive cylinder, a second drive cylinder, a telescopic drive member, or a gripping drive cylinder 12533.

[0128] For example, at least one of the first drive cylinder, the second drive cylinder, the telescopic drive member, and the gripping drive cylinder 12533 ​​is a hydraulic actuator, i.e., a hydraulic cylinder. The control cabinet 13 is electrically connected to the motor and hydraulic valve of the hydraulic station 15, respectively. The control cabinet 13 controls the output of the hydraulic pump through the motor and controls the opening and closing of the oil circuit through the hydraulic valve, thereby driving the hydraulic actuator to move.

[0129] In this embodiment, by setting a hydraulic station 15 on the base 111, that is, the hydraulic station 15 is integrated on the base 111, and the hydraulic pump, motor and hydraulic valve are integrated on the hydraulic station 15, the compactness of the hydraulic system on the tire removal and installation device 10 can be improved, the space occupied by the hydraulic system can be reduced, and the movement of the tire removal and installation device 10 is facilitated.

[0130] In some embodiments, please refer to Figures 1 to 4 The tire removal and installation device 10 includes a battery pack 14. The battery pack 14 is disposed on the base 111 and is used to power at least the control cabinet 13.

[0131] It should be noted that the battery pack 14 can be charged and discharged to power the tire removal and installation device 10, so that the tire removal and installation device 10 does not need an external power cord when it is working, which can improve the operational flexibility of the tire removal and installation device 10.

[0132] For example, battery pack 14 is a storage battery.

[0133] The battery pack 14 provides power to at least the control cabinet 13. The battery pack 14 is capable of providing low-voltage power to the control cabinet 13, for example, providing 5V power to the control signals output by the control cabinet 13.

[0134] For example, at least one of the first drive cylinder, the second drive cylinder, the telescopic drive member, and the gripping drive cylinder 12533 ​​is an electrically driven element, i.e., an electric cylinder. The battery pack 14 is electrically connected to the electric cylinder to provide operating power, and the control cabinet 13 is electrically connected to the electric cylinder to provide control signals.

[0135] For example, at least one of the first drive cylinder, the second drive cylinder, the telescopic drive member, and the gripping drive cylinder 12533 ​​is a hydraulic actuator, i.e., a hydraulic cylinder. The tire mounting and dismounting device 10 includes a hydraulic station 15. The battery pack 14 is electrically connected to the motor of the hydraulic station 15, thereby driving the hydraulic pump of the hydraulic station 15 and providing a power source for the hydraulic station 15. At the same time, the control cabinet 13 is electrically connected to the hydraulic valve of the hydraulic station 15 and provides control signals to the hydraulic valve.

[0136] For example, the mobile unit 11 also includes a traveling element 112, which is a manual hydraulic forklift. When the battery pack 14 on the base 111 needs to be charged, the manual hydraulic forklift can be detached from the base 111 and used to drive other bases 111, thereby achieving continuity of operation by switching bases 111.

[0137] In this embodiment, by setting a battery pack 14 on the base 111, the battery pack 14 can supply power to the tire mounting and dismounting device 10. The tire mounting and dismounting device 10 does not need an external power cord when it is working, which improves the flexibility of the tire mounting and dismounting device 10 and makes the control and operation of the tire mounting and dismounting device 10 more convenient. At the same time, the battery pack 14 can also act as a counterweight to increase the stability of the base 111.

[0138] In the description of this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine different embodiments or examples described in this application, as well as features of different embodiments or examples.

[0139] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A tire mounting and dismounting device, characterized in that, include: The moving unit includes a base; A robotic arm is mounted on the top side of the base, and the moving unit can drive the robotic arm to move, so as to realize the overall movement of the tire removal and installation device; The robotic arm includes a base, a telescopic assembly, a pitch adjustment assembly, a horizontal adjustment assembly, and a gripping assembly. The base is fixed relative to the base support. The gripping assembly is used to grip a tire. The telescopic assembly is located between the gripping assembly and the base. The telescopic assembly can drive the gripping assembly to move along the telescopic direction of the telescopic assembly. The pitch adjustment assembly is connected between the telescopic assembly and the base and / or between the telescopic assembly and the gripping assembly to drive the telescopic assembly and / or the gripping assembly to swing up and down. The horizontal adjustment assembly is connected between the telescopic assembly and the gripping assembly to drive the gripping assembly to move along a first direction, wherein the first direction is perpendicular to the top and bottom direction of the tire mounting / dismounting device and intersects with the telescopic direction of the telescopic assembly.

2. The tire mounting and dismounting device according to claim 1, characterized in that, The pitch adjustment assembly includes a main arm and a first drive member. One end of the main arm is rotatably connected to the base, and the other end is connected to the telescopic assembly. The first drive member is driven to the main arm and is used to drive the main arm to swing up and down, so as to drive the telescopic assembly and the gripping assembly to swing up and down relative to the base.

3. The tire mounting and dismounting device according to claim 2, characterized in that, The pitch adjustment assembly includes a rocker arm and a second drive member. The rocker arm is disposed between the telescopic assembly and the gripping assembly. One end of the rocker arm is rotatably connected to the telescopic assembly, and the other end is connected to the gripping assembly. The second drive member is driven to the rocker arm and is used to drive the rocker arm to swing up and down, so as to drive the gripping assembly to swing up and down relative to the base.

4. The tire mounting and dismounting device according to claim 3, characterized in that, The first driving component includes a first driving cylinder, one end of which is connected to the base and the other end is rotatably connected to the main arm; And / or, the second driving member includes a second driving cylinder, one end of which is connected to the telescopic assembly and the other end is rotatably connected to the rocker arm; And / or, the telescopic assembly includes a telescopic arm and a telescopic drive, the telescopic arm is connected between the main arm and the rocker arm, one end of the telescopic drive is fixed to the main arm and the other end is connected to the telescopic arm, for driving the telescopic arm to extend away from the main arm or retract towards the main arm along the telescopic direction, the telescopic direction intersecting the top and bottom direction.

5. The tire mounting and dismounting device according to claim 3, characterized in that, The horizontal adjustment assembly includes a handwheel, a lead screw, a slide table, and a slider. The slide table is fixed to the rocker arm. The lead screw passes through the slide table along the first direction. The handwheel is connected to the end of the lead screw away from the slide table along the first direction. The slider is disposed on the slide table and cooperates with the lead screw. The handwheel can drive the lead screw to rotate, thereby converting the rotation of the lead screw into the sliding of the slider. The gripping assembly is connected to the slider.

6. The tire mounting and dismounting device according to claim 1, characterized in that, The gripping assembly includes a support rod, a connecting shaft, and a gripping arm. The gripping arm is used to grip the tire. One end of the support rod is connected to the horizontal adjustment assembly, and the other end is connected to the gripping arm through the connecting shaft. The gripper arm is rotatable relative to the support rod about the connecting shaft, wherein the extending direction of the connecting shaft is perpendicular to the extending direction of the gripper arm.

7. The tire mounting and dismounting device according to claim 6, characterized in that, The gripper arm includes at least two rotating arms and at least two grippers. One end of each rotating arm is rotatably connected to the connecting shaft, and the other end is rotatably connected to the gripper. A gripping space is defined between each gripper for gripping a tire.

8. The tire mounting and dismounting device according to claim 7, characterized in that, Any two of the said rotating arms are fixed relative to each other; and / or, The gripper arm includes at least two gripping drive cylinders, one end of which is connected to the rotating arm and the other end is connected to the gripper, so as to drive the gripper to rotate in a direction away from each other or in a direction closer to each other.

9. The tire mounting and dismounting device according to claim 1, characterized in that, The tire mounting and dismounting device includes a control cabinet, which is disposed on the base and located on the side of the base away from the gripping assembly. The control cabinet is connected to at least the telescopic assembly, the pitch adjustment assembly, the horizontal adjustment assembly, and the gripping assembly.

10. The tire mounting and dismounting device according to claim 9, characterized in that, The tire mounting / removing device includes a battery pack disposed on the base, which is used to power at least the control cabinet.

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