阅读说明：本技术 一种轮胎拆装协作机器人 (Tire dismouting cooperation robot ) 是由 邢曙清 张力 何曣 朱向军 张长春 于 2021-01-15 设计创作，主要内容包括：本发明涉及一种轮胎拆装协作机器人,包括：定位组件,其包括圆周布置的多个套筒连接轴；驱动组件,其适于插入至少一个套筒连接轴尾部,并驱动套筒连接轴同步转动；抱臂组件,其适于旋转后抱紧轮胎,限制轮胎转动且搬运；底座,其适于将定位组件处于收纳状态或将轮胎的圆心与定位组件圆心处于水平同轴状态以适应车辆的轴距；当需要拆卸轮胎时,通过底座的运动,将定位组件中心与轮胎的中心处于同一水平线上,抱臂组件抱紧轮胎；定位组件可发生旋转,将套筒连接轴一一对应相应螺栓后,通过平移组件将套筒连接轴与螺栓一一配合进行定位；驱动组件可与套筒连接轴尾部配合,从而驱动套筒连接轴转动,将螺栓从轮胎上进行拆卸,实现了轮胎的自动化拆装。(The invention relates to a tire dismounting cooperation robot, comprising: a positioning assembly comprising a plurality of circumferentially arranged sleeve connection shafts; the driving assembly is suitable for being inserted into the tail part of at least one sleeve connecting shaft and driving the sleeve connecting shaft to synchronously rotate; the holding arm assembly is suitable for holding the tire after rotating, limiting the rotation of the tire and carrying the tire; the base is suitable for enabling the positioning assembly to be in a storage state or enabling the circle center of the tire and the circle center of the positioning assembly to be in a horizontal coaxial state so as to adapt to the wheelbase of the vehicle; when the tire needs to be disassembled, the center of the positioning assembly and the center of the tire are positioned on the same horizontal line through the movement of the base, and the holding arm assembly holds the tire tightly; the positioning assembly can rotate, and after the sleeve connecting shafts correspond to corresponding bolts one by one, the sleeve connecting shafts and the bolts are matched one by one through the translation assembly to be positioned; the driving assembly can be matched with the tail of the sleeve connecting shaft, so that the sleeve connecting shaft is driven to rotate, the bolt is detached from the tire, and the automatic disassembly and assembly of the tire are realized.)

1. A tire mounting and demounting cooperation robot, characterized by comprising:

a positioning assembly comprising a plurality of circumferentially arranged sleeve connection shafts;

when the positioning assembly rotates around the axial direction of the positioning assembly, the sleeve connecting shaft corresponds to the corresponding tire bolt, or the tire bolt is installed on the sleeve connecting shaft, and the positioning assembly horizontally rotates to be aligned with the bolt hole on the tire;

the translation assembly drives the sleeve connecting shaft head to be matched with a tire bolt;

the driving assembly is suitable for being inserted into the tail part of at least one sleeve connecting shaft and driving the sleeve connecting shaft to synchronously rotate;

the holding arm assembly is suitable for holding the tire after rotating and limiting the rotation of the tire;

the base is suitable for enabling the positioning assembly to be in a storage or unfolding state, and enabling the circle center of the tire and the circle center of the positioning assembly to be in a horizontal coaxial state.

2. A tire changing collaboration robot as claimed in claim 1, wherein the base includes:

the horizontal rotating mechanism is controlled by a first power mechanism and drives the output end of the horizontal rotating mechanism to rotate horizontally;

the first vertical rotating mechanism is connected with the output end of the horizontal rotating mechanism, is controlled by a second power mechanism and drives the output end of the first vertical rotating mechanism to vertically swing;

and the second vertical rotating mechanism is connected with the output end of the first vertical rotating mechanism, is controlled by a third power mechanism, and drives the output end to vertically swing.

3. A tire changing collaborative robot according to claim 1, wherein the translation assembly includes:

a tail end housing;

the linear module is controlled by a fourth power mechanism and drives the tail end shell to linearly move relative to the base;

the straight line module includes:

the slide rails are symmetrically arranged at the bottom of the tail end shell;

the pulley blocks are symmetrically and rotatably arranged on the top surface of the base and act on two sides of the sliding rail;

the support plate is vertically arranged on the top surface of the base and penetrates through the tail end shell;

the pulley is rotatably arranged at the end part of the support plate and acts on the upper end surface of the slide rail;

and the driving wheel is connected with the output end of the fourth power mechanism and acts on the inner side surface of one of the slide rails.

4. A tire changing collaborative robot according to claim 1, wherein the positioning assembly comprises:

the front end shell is controlled to rotate by a fifth power mechanism;

a first mounting plate fixedly disposed within the front end housing;

and the sleeve connecting shafts are circumferentially arranged on the first mounting plate.

5. A tire mounting and demounting cooperation robot as claimed in claim 4, wherein the rear end of the front end housing passes through a bearing and is fixed with a first gear ring;

the outer ring of the bearing is fixedly connected with the front end shell, and the inner ring of the bearing is connected with a bottom plate; the bottom plate is provided with the fifth power mechanism;

and the output end of the fifth power mechanism penetrates through the bottom plate and is meshed with the inner ring of the first gear ring.

6. A tire changing collaboration robot as claimed in claim 5, wherein the drive assembly comprises:

the second mounting plate is driven to rotate by a sixth power mechanism;

the rotating shaft is controlled by a seventh power mechanism to drive the rotating shaft to rotate;

when the sixth power mechanism drives the second mounting plate to rotate, the rotating shaft and the sleeve connecting shaft are positioned on the same straight line, the switching cylinder drives the second mounting plate to move forwards, the head of the rotating shaft is matched with the tail of the sleeve connecting shaft, and the seventh power mechanism controls the rotating shaft to rotate and drives the sleeve connecting shaft to rotate.

7. A tire building and tire service robot according to claim 6 wherein said second mounting plate has an input shaft;

a second gear ring is sleeved on the input shaft;

the bottom plate is provided with the sixth power mechanism;

and the output end of the sixth power mechanism is meshed with the second gear ring and drives the second gear ring to rotate.

8. The cooperative robot for tire mounting and dismounting as recited in claim 7, wherein a third gear ring is movably sleeved on the input shaft; a fourth gear ring is sleeved on the rotating shaft; and the seventh power mechanism is arranged on the bottom plate and sequentially transmits the rotating force to the third gear ring and the fourth gear ring and drives the input shaft to rotate.

9. A tire mounting and demounting cooperation robot as claimed in claim 7, wherein the switching cylinder is provided on the base plate;

and the extending end of the switching cylinder is fixedly connected with the end part of the input shaft and drives the second mounting plate to move forwards or backwards so as to connect or disconnect the rotating shaft and the sleeve connecting shaft.

10. A tire changing and tire building cooperative robot according to claim 5, wherein said boom assembly comprises:

one end of the arc-shaped holding arm is rotatably connected with the fixed plate;

the fixed plates are circumferentially arranged on the bottom plate in equal intervals;

one end of the driving arm is fixedly connected with the arc-shaped holding arm, and the other end of the driving arm is fixedly connected with the bearing outer ring;

the fifth gear ring is fixedly connected with the bearing outer ring;

and the eighth power mechanism is fixed on the bottom plate, and the output end of the eighth power mechanism is meshed with the fifth gear ring inner ring to drive the bearing outer ring to rotate relative to the bottom plate.

Technical Field

The invention relates to a tire dismounting mechanism, in particular to a tire dismounting cooperation robot.

Background

The conventional large-scale vehicle tire is disassembled and assembled by manually using a pneumatic bolt gun to disassemble bolts on a vehicle, so that the tire is replaced; or the pneumatic bolt gun is used for manually installing the bolt into the bolt hole, so that the tire is installed; because the number of the bolts on the large-scale vehicle tire is large, time and labor are consumed in a manual mode, the efficiency is low, and potential safety hazards exist;

in conclusion, how to realize the automatic disassembly and assembly of the large-sized vehicle tire becomes a problem which needs to be solved urgently by researchers of the company

Disclosure of Invention

The technical problem to be solved by the invention is as follows: how to realize the automatic disassembly and assembly of the tires of the bus;

in order to solve the technical problems, the invention adopts the following technical scheme:

the invention provides a tire mounting and dismounting cooperation robot, comprising: a positioning assembly comprising a plurality of circumferentially arranged sleeve connection shafts; when the positioning assembly rotates around the axial direction of the positioning assembly, the sleeve connecting shaft corresponds to a corresponding tire bolt, the head of the sleeve connecting shaft is matched with the tire bolt through the translation assembly, or the tire bolt is installed on the sleeve connecting shaft, and the positioning assembly is horizontally rotated to be aligned with the bolt hole on the tire; the driving assembly is suitable for being inserted into the tail part of at least one sleeve connecting shaft and driving the sleeve connecting shaft to synchronously rotate; the holding arm assembly is suitable for holding the tire after rotating and limiting the rotation of the tire; the base is suitable for enabling the positioning assembly to be in a storage state or enabling the circle center of the tire and the circle center of the positioning assembly to be in a horizontal coaxial state;

in the scheme, when the tire needs to be disassembled, the center of the positioning assembly and the center of the tire are positioned on the same horizontal line through the movement of the base, and the arm holding assembly holds the tire tightly, so that the rotation of the tire is limited; the positioning assembly can rotate, and after the sleeve connecting shafts correspond to corresponding bolts one by one, the sleeve connecting shafts and the bolts are matched one by one through the translation assembly to be positioned; the driving assembly can be matched with the tail part of the sleeve connecting shaft so as to drive the sleeve connecting shaft to rotate and detach the bolt from the tire;

when the tire needs to be installed, press from both sides the tire tightly on embracing the arm subassembly, through the motion of base, be in the collinear state with the axis of tire and the axis of tire pivot, the tire bolt is installed on the sleeve connecting axle, aligns the bolt hole on the tire with locating component horizontal rotation, puts into the bolt hole with the tire bolt through the translation subassembly, and rotation through drive assembly is downthehole with the bolt precession bolt.

In order to explain the concrete structure of the base, the invention adopts the base comprising: the horizontal rotating mechanism is controlled by a first power mechanism and drives the output end of the horizontal rotating mechanism to rotate horizontally; the first vertical rotating mechanism is connected with the output end of the horizontal rotating mechanism, is controlled by a second power mechanism and drives the output end of the first vertical rotating mechanism to vertically swing; the second vertical rotating mechanism is connected with the output end of the first vertical rotating mechanism, is controlled by a third power mechanism and drives the output end to vertically swing;

three movements are realized through the base, and the horizontal rotating mechanism corresponds to the rotation on the horizontal plane; the first vertical rotating mechanism and the second vertical rotating mechanism correspond to rotation on a vertical surface; the first, second and third power mechanisms are respectively controlled correspondingly;

the horizontal rotating machine can enable the front face or the side face of the integral tire dismounting mechanism to face the tire; the first vertical rotating mechanism and the second vertical rotating mechanism can align the positioning assembly to the center of the tire, namely, the first vertical rotating mechanism and the second vertical rotating mechanism can realize the movement of two shafts on a vertical plane.

In order to illustrate the specific structure of the translation assembly, the present invention employs a translation assembly comprising: a tail end housing; the linear module is controlled by a fourth power mechanism and drives the tail end shell to linearly move relative to the base;

the tail end shell is connected with the positioning assembly, and the movement of the tail end shell moves linearly so as to realize the linear movement of the positioning assembly; the linear module is connected with the base, and particularly, the linear module is connected with an output end plane controlled by the third power mechanism.

In order to explain the concrete structure of the linear module, the invention adopts the linear module comprising: the slide rails are symmetrically arranged at the bottom of the tail end shell; the pulley blocks are symmetrically and rotatably arranged on the top surface of the base and act on two sides of the sliding rail; the support plate is vertically arranged on the top surface of the base and penetrates through the tail end shell; the pulley is rotatably arranged at the end part of the support plate and acts on the upper end surface of the slide rail; the driving wheel is connected with the output end of the fourth power mechanism and acts on the inner side surface of one slide rail;

the pulley block presss from both sides tight slide rail both sides, and the extension board is vertical to with the pulley cooperation, restriction tail end casing takes place the perk phenomenon at the motion in-process, keeps tail end casing to be in the horizontal motion state all the time, fourth power unit is as the power supply, drives the removal of slide rail, thereby realizes the motion of tail end casing for the base.

In order to explain the concrete structure of the positioning assembly, the positioning assembly adopted by the invention comprises: the front end shell is controlled to rotate by a fifth power mechanism; a first mounting plate fixedly disposed within the front end housing; a plurality of sleeve connecting shafts circumferentially arranged on the first mounting plate;

the rotation of front end casing is controlled by fifth power unit and is realized rotating to aim at the tire bolt after driving a plurality of telescopic link axle rotations on the first mounting panel, under the drive of above-mentioned translation subassembly, realize the grafting cooperation with the bolt with telescopic link axle.

In order to explain how the fifth power mechanism controls the rotation of the front end shell, the rear end of the front end shell penetrates through the bearing and is fixed with a first gear ring; the outer ring of the bearing is fixedly connected with the front end shell, and the inner ring of the bearing is connected with a bottom plate; a fifth power mechanism is arranged on the bottom plate; the output end of the fifth power mechanism penetrates through the bottom plate and is meshed with the inner ring of the first gear ring;

a first gear ring is fixed at the end part of the front-end shell and penetrates through the bearing, the inner ring of the bearing is fixedly connected with the bottom plate, the outer ring of the bearing is fixedly connected with the front-end shell, a fifth power mechanism meshed with the first gear ring is arranged on the bottom plate, and the fifth power mechanism rotates to sequentially transmit power to the first gear ring and the front-end shell so as to realize the rotation of the front-end shell; in order to further realize the stability of rotation, the front end shell is also connected with the outer ring of the bearing, that is, the fifth power mechanism rotates, and the outer ring of the bearing also rotates.

In order to explain the specific structure of the driving assembly, the present invention adopts a driving assembly comprising: the second mounting plate is driven to rotate by a sixth power mechanism; the rotating shaft is controlled by a seventh power mechanism to drive the rotating shaft to rotate; when the sixth power mechanism drives the second mounting plate to rotate and the rotating shaft and the sleeve connecting shaft are positioned on the same straight line, the switching cylinder drives the second mounting plate to move forwards and the head of the rotating shaft is matched with the tail of the sleeve connecting shaft, and the seventh power mechanism controls the rotating shaft to rotate and drives the sleeve connecting shaft to rotate;

the driving component is composed of three motion modes, which are respectively: 1. the sixth power mechanism drives the second mounting plate to rotate; 2. the seventh power mechanism drives the rotating shaft to rotate; 3. the switching cylinder effects the back and forth movement of the second mount.

In order to explain how the sixth power mechanism drives the second mounting plate to rotate, the second mounting plate is provided with an input shaft; the input shaft is sleeved with a second gear ring; the bottom plate is provided with a sixth power mechanism; the output end of the sixth power mechanism is meshed with the second gear ring and drives the second gear ring to rotate;

the bottom plate is the bottom plate mentioned by the positioning assembly, and the rotating force output by the sixth power mechanism is sequentially transmitted to the second gear ring and the input shaft, so that the second mounting plate rotates.

In order to explain how the seventh power mechanism drives the rotating shaft to rotate, the invention adopts the structure that the input shaft is movably sleeved with the third gear ring; a fourth gear ring is sleeved on the rotating shaft; a seventh power mechanism is arranged on the bottom plate, transmits the rotating force to the third gear ring and the fourth gear ring in sequence and drives the input shaft to rotate;

the inner side and the outer side of the third gear ring are both provided with teeth, a seventh power mechanism is also fixed on the bottom plate, an output shaft of the seventh power mechanism is meshed with an inner ring of the third gear ring to drive an outer ring of the third gear ring to rotate, power is transmitted to a fourth gear ring through a rotating pair, and the fourth gear ring is fixedly connected with the rotating shaft, so that the seventh power mechanism controls the rotating shaft to rotate.

In order to explain how the switching cylinder realizes the forward or backward movement of the second mounting plate, the switching cylinder is arranged on the bottom plate; the extending end of the switching cylinder is fixedly connected with the end part of the input shaft and drives the second mounting plate to move forward or backward so as to connect or disconnect the rotating shaft and the sleeve connecting shaft;

the switching cylinder is also fixed at the central position of the bottom plate, and the extending end of the bottom plate is fixedly connected with the input shaft, so that the back-and-forth movement of the second mounting plate is realized.

In order to explain the specific structure of the arm embracing assembly, the invention adopts the arm embracing assembly comprising:

one end of the arc-shaped holding arm is rotatably connected with the fixed plate; the fixing plates are arranged on the periphery of the bottom plate in a circumferentially equal distribution manner; one end of the driving arm is fixedly connected with the arc-shaped holding arm, and the other end of the driving arm is fixedly connected with the outer ring of the bearing; the fifth gear ring is fixedly connected with the bearing outer ring; the eighth power mechanism is fixed on the bottom plate, and the output end of the eighth power mechanism is meshed with the inner ring of the fifth gear ring to drive the outer ring of the bearing to rotate relative to the bottom plate;

because the bottom plate remains the irrotational state throughout, the arc is embraced the arm and is passed through the fixed plate and be connected with the bottom plate, the fixed plate is embraced the arm junction with the arc and is the rotation center, driving arm one end is embraced the arm with the arc and is connected, the other end is connected with the outer lane of bearing, be fixed with the fifth ring gear on the outer lane of bearing, the mesh of eighth power unit output on fifth ring gear and the bottom plate to realize that the bearing outer lane rotates, the driving arm acts on the arc and embraces the arm, embrace the arm with the arc and report tightly the tire, restriction tire rotation.

In this scheme, the first to eighth power mechanisms may use a motor, a cylinder, or hydraulic pressure as a power source.

The invention has the beneficial effects that: the invention relates to a tire dismounting cooperation robot, which is characterized in that when a tire needs to be dismounted, the center of a positioning component and the center of the tire are positioned on the same horizontal line through the movement of a base, and an arm holding component holds the tire tightly so as to limit the rotation of the tire; the positioning assembly can rotate, and after the sleeve connecting shafts correspond to corresponding bolts one by one, the sleeve connecting shafts and the bolts are matched one by one through the translation assembly to be positioned; the driving assembly can be matched with the tail part of the sleeve connecting shaft so as to drive the sleeve connecting shaft to rotate and detach the bolt from the tire; when a tire needs to be installed, the tire is clamped on the arm-embracing component, the axis of the tire and the axis of the tire rotating shaft are in a collinear state through the movement of the base, the tire bolt is installed on the sleeve connecting shaft, the positioning component horizontally rotates to be aligned with the bolt hole on the tire, the tire bolt is installed in the bolt hole through the translation component, and the bolt is screwed into the bolt hole through the rotation of the driving component; automatic dismounting and mounting of the tires are realized.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the base structure of the present invention;

FIG. 3 is a schematic view of the positioning assembly of the present invention;

FIG. 4 is a schematic view of the front end housing rotation of the present invention;

FIG. 5 is a schematic view of another aspect of the positioning assembly of the present invention;

FIG. 6 is a schematic view of the drive assembly of the present invention;

FIG. 7 is a schematic view of another embodiment of the driving assembly of the present invention;

FIG. 8 is a schematic view of a third ring gear configuration of the present invention;

FIG. 9 is a schematic structural view of a boom assembly of the present invention;

figure 10 is a schematic view of another perspective construction of a boom assembly of the present invention;

in the figure: 1-a positioning component, 11-a sleeve connecting shaft, 12-a front end shell, 13-a fifth power mechanism, 14-a first mounting plate, 15-a bearing, 16-a first gear ring, 17-a bottom plate, 2-a translation component, 21-a tail end shell, 22-a linear module, 23-a fourth power mechanism, 221-a sliding rail, 222-a pulley block, 223-a support plate, 224-a pulley, 3-a driving component, 31-a second mounting plate, 32-a sixth power mechanism, 33-a rotating shaft, 34-a seventh power mechanism, 35-a switching cylinder, 36-an input shaft, 37-a second gear ring, 38-a third gear ring, 39-a fourth gear ring, 4-an arm-embracing component, 41-an arc-shaped armful arm, 42-a fixing plate, 43-driving arm, 44-fifth gear ring, 45-eighth power mechanism, 5-base, 51-horizontal rotating mechanism, 52-first power mechanism, 53-first vertical rotating mechanism, 54-second power mechanism, 55-second vertical rotating mechanism and 56-third power mechanism.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

As shown in fig. 1, the present invention is a tire mounting and demounting cooperation robot including: a positioning assembly 1 including a plurality of sleeve connecting shafts 11 arranged circumferentially; when the positioning assembly 1 rotates around the axial direction of the positioning assembly, the sleeve connecting shaft 11 corresponds to a corresponding tire bolt, and then the head of the sleeve connecting shaft 11 is matched with the tire bolt through the translation assembly 2; the driving assembly 3 is suitable for being inserted into the tail part of at least one sleeve connecting shaft 11 and driving the sleeve connecting shaft to synchronously rotate; the arm holding assembly 4 is suitable for holding the tire after rotating and limiting the rotation of the tire; the base 5 is suitable for enabling the positioning assembly 1 to be in a storage state or enabling the circle center of the tire and the circle center of the positioning assembly 1 to be in a horizontal coaxial state;

in the scheme, when the tire needs to be disassembled, the center of the positioning assembly and the center of the tire are positioned on the same horizontal line through the movement of the base, and the arm holding assembly holds the tire tightly, so that the rotation of the tire is limited; the positioning assembly can rotate, and after the sleeve connecting shafts correspond to corresponding bolts one by one, the sleeve connecting shafts and the bolts are matched one by one through the translation assembly to be positioned; the driving assembly can be matched with the tail part of the sleeve connecting shaft so as to drive the sleeve connecting shaft to rotate and detach the bolt from the tire;

when the tire needs to be installed, press from both sides the tire tightly on embracing the arm subassembly, through the motion of base, be in the collinear state with the axis of tire and the axis of tire pivot, the tire bolt is installed on the sleeve connecting axle, aligns the bolt hole on the tire with locating component horizontal rotation, puts into the bolt hole with the tire bolt through the translation subassembly, and rotation through drive assembly is downthehole with the bolt precession bolt.

As shown in fig. 2, in order to explain the specific structure of the base, the present invention employs a base 5 comprising: a horizontal rotation mechanism 51 controlled by a first power mechanism 52 and driving an output end thereof to rotate horizontally; a first vertical rotating mechanism 53 which is connected with the output end of the horizontal rotating mechanism 51, is controlled by a second power mechanism 54, and drives the output end to vertically swing; a second vertical rotating mechanism 55, which is connected to the output end of the first vertical rotating mechanism 53 and is controlled by a third power mechanism 56 to drive the output end to vertically swing;

three movements are realized through the base, and the horizontal rotating mechanism corresponds to the rotation on the horizontal plane; the first vertical rotating mechanism and the second vertical rotating mechanism correspond to rotation on a vertical surface; the first, second and third power mechanisms are respectively controlled correspondingly;

the horizontal rotating machine can enable the front face or the side face of the integral tire dismounting mechanism to face the tire; the first vertical rotating mechanism and the second vertical rotating mechanism can align the positioning assembly to the center of the tire, namely, the first vertical rotating mechanism and the second vertical rotating mechanism can realize the movement of two shafts on a vertical plane.

As shown in fig. 2, in order to illustrate the specific structure of the translation assembly, the present invention employs a translation assembly 2 comprising: a tail end housing 21; a linear module 22 controlled by a fourth power mechanism 23 for driving the tail housing 21 to move linearly relative to the base 5;

the tail end shell is connected with the positioning assembly, and the movement of the tail end shell moves linearly so as to realize the linear movement of the positioning assembly; the linear module is connected with the base, and particularly, the linear module is connected with an output end plane controlled by the third power mechanism.

As shown in fig. 2, in order to illustrate the specific structure of the linear module, the linear module 22 of the present invention includes: the slide rails 221 are symmetrically arranged at the bottom of the tail end shell 21; the pulley blocks 222 are symmetrically and rotatably arranged on the top surface of the base 5 and act on two sides of the sliding rails 222; a support plate 223 vertically disposed on the top surface of the base 5 and penetrating through the tail end housing 21; a pulley 224 rotatably provided at an end of the support 223 and acting on an upper end surface of the slide rail 221; the driving wheel is connected with the output end of the fourth power mechanism 23 and acts on the inner side surface of one sliding rail 221;

the pulley block presss from both sides tight slide rail both sides, and the extension board is vertical to with the pulley cooperation, restriction tail end casing takes place the perk phenomenon at the motion in-process, keeps tail end casing to be in the horizontal motion state all the time, fourth power unit is as the power supply, drives the removal of slide rail, thereby realizes the motion of tail end casing for the base.

As shown in fig. 3, in order to explain the specific structure of the positioning assembly, the present invention employs a positioning assembly 1 comprising: a front end housing 12 whose rotation is controlled by a fifth power mechanism 13; a first mounting plate 14 fixedly provided in the front end housing 13; a plurality of sleeve connecting shafts 11 circumferentially provided on the first mounting plate 14;

the rotation of front end casing is controlled by fifth power unit and is realized rotating to aim at the tire bolt after driving a plurality of telescopic link axle rotations on the first mounting panel, under the drive of above-mentioned translation subassembly, realize the grafting cooperation with the bolt with telescopic link axle.

As shown in fig. 3, 4 and 5, in order to explain how the fifth power mechanism controls the rotation of the front end housing, the present invention adopts a structure that the rear end of the front end housing 12 passes through the bearing 15 and is fixed with a first ring gear 16; the outer ring of the bearing 15 is fixedly connected with the front end shell 12, and the inner ring of the bearing 15 is connected with a bottom plate 17; the bottom plate 17 is provided with a fifth power mechanism 13; the output end of the fifth power mechanism 13 penetrates through the bottom plate 17 and is meshed with the inner ring of the first gear ring 16;

a first gear ring is fixed at the end part of the front-end shell and penetrates through the bearing, the inner ring of the bearing is fixedly connected with the bottom plate, the outer ring of the bearing is fixedly connected with the front-end shell, a fifth power mechanism meshed with the first gear ring is arranged on the bottom plate, and the fifth power mechanism rotates to sequentially transmit power to the first gear ring and the front-end shell so as to realize the rotation of the front-end shell; in order to further realize the stability of rotation, the front end shell is also connected with the outer ring of the bearing, that is, the fifth power mechanism rotates, and the outer ring of the bearing also rotates.

As shown in fig. 6, 7 and 8, in order to explain the specific structure of the driving assembly, the driving assembly 3 of the present invention includes: the second mounting plate 31 is driven to rotate by a sixth power mechanism 32; a rotating shaft 33 which is driven to rotate by the seventh power mechanism 34; when the sixth power mechanism 32 drives the second mounting plate to rotate and the rotating shaft 33 and the sleeve connecting shaft 11 are positioned on the same straight line, the switching cylinder 35 drives the second mounting plate 31 to move forward and matches the head of the rotating shaft 33 with the tail of the sleeve connecting shaft 11, and the seventh power mechanism 34 controls the rotating shaft to rotate and drives the sleeve connecting shaft 11 to rotate;

the driving component is composed of three motion modes, which are respectively: 1. the sixth power mechanism drives the second mounting plate to rotate; 2. the seventh power mechanism drives the rotating shaft to rotate; 3. the switching cylinder effects the back and forth movement of the second mount.

As shown in fig. 6, 7 and 8, in order to illustrate how the sixth power mechanism drives the second mounting plate to rotate, the second mounting plate 31 is provided with an input shaft 36; a second gear ring 37 is sleeved on the input shaft 36; a bottom plate 17 on which a sixth power mechanism 32 is mounted; the output end of the sixth power mechanism 32 is engaged with the second gear ring 37 and drives the second gear ring 37 to rotate;

the bottom plate is the bottom plate mentioned by the positioning assembly, and the rotating force output by the sixth power mechanism is sequentially transmitted to the second gear ring and the input shaft, so that the second mounting plate rotates.

As shown in fig. 6, 7 and 8, in order to describe how the seventh power mechanism drives the rotating shaft to rotate, the input shaft 36 is movably sleeved with a third gear ring 38; the rotating shaft 36 is sleeved with a fourth gear ring 39; the seventh power mechanism 34 is installed on the bottom plate 17, and the seventh power mechanism 34 transmits the rotating force to the third gear ring 38 and the fourth gear ring 39 in sequence and drives the input shaft 36 to rotate;

the inner side and the outer side of the third gear ring are both provided with teeth, a seventh power mechanism is also fixed on the bottom plate, an output shaft of the seventh power mechanism is meshed with an inner ring of the third gear ring to drive an outer ring of the third gear ring to rotate, power is transmitted to a fourth gear ring through a rotating pair, and the fourth gear ring is fixedly connected with the rotating shaft, so that the seventh power mechanism controls the rotating shaft to rotate.

As shown in fig. 6, 7 and 8, in order to explain how the switching cylinder can realize the forward movement or the backward movement of the second mounting plate, the switching cylinder 35 is arranged on the bottom plate 17; the extending end of the switching cylinder 35 is fixedly connected with the end of the input shaft 36 and drives the second mounting plate 31 to move forward or backward, so that the rotating shaft 33 is connected with or separated from the sleeve connecting shaft 11;

the switching cylinder is also fixed at the central position of the bottom plate, and the extending end of the bottom plate is fixedly connected with the input shaft, so that the back-and-forth movement of the second mounting plate is realized.

As shown in fig. 9 and 10, in order to explain a specific structure of the arm embracing assembly, the present invention employs the arm embracing assembly 4 including: one end of the arc arm 41 is rotatably connected with the fixing plate 42; the fixing plates 42 are equally arranged on the periphery of the bottom plate 17 in the circumferential direction; one end of the driving arm 43 is fixedly connected with the arc-shaped holding arm 41, and the other end of the driving arm is fixedly connected with the outer ring of the bearing 15; a fifth ring gear 44 fixedly connected with the outer ring of the bearing 15; an eighth power mechanism 45 fixed to the base plate 17, and engaging an output end thereof with an inner ring of the fifth ring gear 44 to drive rotation of an outer ring of the bearing 15 with respect to the base plate 17;

because the bottom plate remains the irrotational state throughout, the arc is embraced the arm and is passed through the fixed plate and be connected with the bottom plate, the fixed plate is embraced the arm junction with the arc and is the rotation center, driving arm one end is embraced the arm with the arc and is connected, the other end is connected with the outer lane of bearing, be fixed with the fifth ring gear on the outer lane of bearing, the mesh of eighth power unit output on fifth ring gear and the bottom plate to realize that the bearing outer lane rotates, the driving arm acts on the arc and embraces the arm, embrace the arm with the arc and report tightly the tire, restriction tire rotation.

The invention relates to a tire dismounting cooperation robot, which is characterized in that when a tire needs to be dismounted, the center of a positioning component and the center of the tire are positioned on the same horizontal line through the movement of a base, and an arm holding component holds the tire tightly so as to limit the rotation of the tire; the positioning assembly can rotate, and after the sleeve connecting shafts correspond to corresponding bolts one by one, the sleeve connecting shafts and the bolts are matched one by one through the translation assembly to be positioned; the driving assembly can be matched with the tail part of the sleeve connecting shaft so as to drive the sleeve connecting shaft to rotate and detach the bolt from the tire; when a tire needs to be installed, the tire is clamped on the arm-embracing component, the axis of the tire and the axis of the tire rotating shaft are in a collinear state through the movement of the base, the tire bolt is installed on the sleeve connecting shaft, the positioning component horizontally rotates to be aligned with the bolt hole on the tire, the tire bolt is installed in the bolt hole through the translation component, and the bolt is screwed into the bolt hole through the rotation of the driving component; automatic dismounting and mounting of the tires are realized.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.