CN108790230B - Automatic tread feeding device - Google Patents

Abstract

The invention provides an automatic tread feeding device which comprises a frame, a turnover device, a conveying device, a centering device, a length measuring device, an anti-tail-flicking device and a laminating device, wherein the turnover device is arranged on the frame; the frame is provided with a first bracket and a second bracket in parallel in the length extending direction.

Description

Automatic tread feeding device

Technical Field

The design relates to an all-steel truck tire forming machine, belongs to the field of rubber mechanical equipment, and particularly relates to an automatic tread feeding device.

Background

The tread of the all-steel truck tire is manufactured by the process flows of extrusion compounding, forced shrinkage, calendaring lamination, cooling conveying, fixed length cutting and the like of a tread pressing line in the previous working procedure. The processed tread is put into a shutter trolley and is conveyed to the side of an all-steel heavy-duty tire forming machine, and a forming operator takes the tread off the shutter trolley and turns over the tread and then places the tread on a tread feeding frame.

The weight of an all-steel truck tire tread is about 40 kg, the production of one class is about 90, the labor intensity of manual handling is high, the tire tread is extremely easy to damage in the process of handling and overturning, the tire tread is curled before being attached, and the tire quality is affected. In addition, in the process of laminating, because the feed frame lacks centering device before the laminating, tread length detection device, tread joint automatic intervention device, laminating device etc. functions need manual intervention tread laminating position, joint and laminating quality, and the goods stability is difficult to guarantee.

CN107344423 discloses a tread fitting device, which patent tread conveying portion: the teeth 55 on the toothed disc 54 press the tread, the servo motor 6 controls the speed of the tread conveying device 2, and the tread fitting joint is controlled by means of the relative speed between the timing belt 4 and the belt drum. In the actual tire manufacturing process, the tread can slip on a conveying device, in addition, the head of the tread is on a synchronous belt 4, the rest is on a tread feeding frame, the synchronous belt has a speed, at the moment, the tread feeding frame has no speed, the tread is stretched, the length measurement before stretching is meaningless, and the perfect butt joint of the tread can not be realized; the existing equipment only carries out fuzzy description on the relative speed matching between the synchronous belt 4 and the belt drum, a calculation formula is not given, and the real quantitative control of the fitting joint precision cannot be realized. Centering part: it is only mentioned that the tread is centred on the tread feed frame 7 by the centring device 8 and that the pressure mechanism to a certain extent avoids that the actual tread being placed on the tread feed frame during transport of the tread is not perfectly parallel to the feed frame, so that the parallelism cannot be adjusted depending on the pressure in the vertical direction, and that the tread length measurement data is absolutely inaccurate.

CN105346121 discloses an automatic feeding device for tread, in which the shutter needs to be manually turned up to expose the tread after the shutter car is pushed to the positioning guide rail. In addition, the tread turn-over part adopts a cylinder to control the turn-over frame, is limited by the stroke of the cylinder, has angle limitation on the tread turn-over structure, can not be completely turned over to the tread feeding frame, the tread can not accurately fall to a designated position by means of speed inertia, the falling speed can not be controlled, and the quality of the tread after falling is extremely easy to cause damage.

Disclosure of Invention

The invention provides an automatic tread feeding device, which comprises a frame, a turnover device arranged on the frame, a conveying device, a centering device, a length measuring device, an anti-tail-flicking mechanism and a bonding device, wherein the turnover device is arranged on the frame; the rack is provided with a first bracket and a second bracket in parallel in the length extension direction;

a first group of support frames and a second group of support frames are arranged on the first support frame from the outer side to the inner side, and a first fixing seat and a second fixing seat are respectively arranged at the left end and the right end of the second group of support frames; the turnover device comprises a first servo motor, a rotating shaft and a placing frame; the two ends of the rotating shaft are pivoted on the first fixing seat and the second fixing seat and are in transmission connection with the first servo motor, the placing frame is arranged on the rotating shaft and positioned on the first group of supporting frames when the rotating shaft does not rotate, the first servo motor drives the placing frame to rotate through driving the rotating shaft, and the placing frame is provided with a taking and placing device for taking and placing the tread;

The second bracket is provided with a conveying device, a centering device, a length measuring device, an anti-tail-flicking mechanism and a bonding device;

the conveying device comprises a tread roller way mechanism, a servo driving mechanism and a tread stretching conveying mechanism, a mounting frame is arranged on the second bracket, the mounting frame is surrounded by a front side plate, a left side plate and a right side plate, the rear side opening of the mounting frame faces towards the belt drum and is used for attaching the tread conveying belt drum, the tread roller way mechanism and the tread stretching conveying mechanism are arranged in the mounting frame, and the tread stretching conveying mechanism is arranged at the downstream of the tread roller way mechanism; the tread roller way mechanism comprises a universal ball shaft assembly and a carrier roller assembly, the carrier roller assembly is positioned at the downstream of the universal ball shaft assembly, the universal ball shaft assembly comprises a plurality of universal ball shafts which are arranged in parallel and a plurality of universal balls which are arranged on the universal ball shafts, two ends of each universal ball shaft are respectively arranged on a left side plate and a right side plate, and a reinforcing rib plate longitudinally extends from the plurality of universal ball shafts; the carrier roller assembly comprises a plurality of rows of roller shafts and a plurality of rows of roller bodies sleeved on the outer sides of the roller shafts, two ends of the plurality of rows of roller shafts are respectively arranged on the left side plate and the right side plate, and two ends of the roller bodies are provided with limiting sleeves;

The tread stretching and conveying mechanism at least comprises a fourth servo motor, a speed reducer, a driving roller, a front tensioning roller assembly and a synchronous belt, wherein the fourth servo motor drives the driving roller through the speed reducer; the driving roller is connected with the front tensioning roller assembly through a synchronous belt;

the servo driving mechanism comprises a swinging assembly, a lifting assembly and a driving wheel assembly, wherein the swinging assembly and the lifting assembly drive the driving wheel assembly to swing and lift so as to enable the driving wheel and the tread to generate or stop transmission; the swing assembly comprises a swing arm, a rotating shaft, a mounting bottom plate and a swing cylinder, the lifting assembly comprises a third driving cylinder, a linear guide rail and a second sliding seat, the driving wheel assembly comprises a third servo motor, a speed reducer and a driving wheel, the side surface of the left side plate is provided with the mounting bottom plate, a first bearing seat and a second bearing seat are arranged on the mounting bottom plate, the rotating shaft is arranged on the first bearing seat and the second bearing seat through bearings, the swing arm is sleeved on the rotating shaft and driven by the swing cylinder to drive the rotating shaft to swing, the free end of the rotating shaft is connected to the mounting plate, the second sliding seat is arranged on the mounting plate, the third driving cylinder drives the linear guide rail to move on the second sliding seat, and the third servo motor is connected with the driving wheel through the speed reducer;

Preferably, the centering device comprises a first centering roller mounting bar and a second centering roller mounting bar; a plurality of baffle rollers are longitudinally arranged on the first centering roller mounting bar and the second centering roller mounting bar, and the transverse distance between the first centering roller mounting bar and the second centering roller mounting bar is adjusted by at least two groups of distance adjusting devices; the two groups of interval adjusting devices are arranged in parallel with the short side of the tread conveying direction, and each group of interval adjusting devices comprises a first supporting rod, a second supporting rod, a fifth servo motor, a first sliding block, a second sliding block, a third sliding block, a fourth sliding block, a guide pipe, a screw rod and a guide rail; one end of a first supporting rod and one end of a second supporting rod are respectively arranged on a first centering roller installation strip and a second centering roller installation strip, the other ends of the first supporting rod and the second supporting rod are respectively connected with a first sliding block and a second sliding block, a guide pipe is fixed through a first clamping block and a second clamping block, a first guide groove and a second guide groove are formed in one side of the guide pipe, a screw rod is arranged on the inner side of the guide pipe, a first screw sleeve and a second screw sleeve are respectively arranged on two sides of the screw rod, the first sliding block and the second sliding block are connected with the screw rod in a threaded manner, the first sliding block and the second sliding block are slidably arranged on the guide rod in a penetrating manner, the inner sides of the first sliding block and the second screw sleeve are respectively extended from the first guide groove and the second guide groove, a third sliding seat and a fourth sliding seat are respectively arranged at the bottoms of the first sliding block and the second sliding block, a linear guide rail is arranged at the bottoms of the third sliding seat and the fourth sliding seat, and a fifth servo motor drives the first sliding block and the second sliding block to move along the guide pipe through driving the screw rod to drive the first sliding block and the second centering roller installation strip to approach or separate.

Preferably, the length measuring device comprises a first detection support and a second detection support which are respectively arranged on the front side and the rear side of the installation frame, a first detection position sensor and a second detection position sensor are respectively arranged on the first detection support and the second detection support, the second detection support translates along the tread conveying direction through a transmission mechanism and a pressing plate, the transmission mechanism comprises a sixth servo motor, a synchronous pulley, a tensioning mechanism and a transmission synchronous belt, the sixth servo motor is connected with the synchronous pulley through a speed reducer, the synchronous pulley is connected with the tensioning mechanism through the transmission synchronous belt, the bottom end of the second detection support is arranged on a detection installation bottom plate, the detection installation bottom plate and the pressing plate are matched and fixed on the transmission synchronous belt, and a fifth sliding seat and a sliding rail are arranged at the bottom of the detection installation bottom plate.

Preferably, the conveying speed of the synchronous belt and the conveying speed of the driving wheel are 1:1.

Preferably, the picking and placing device is realized by the following structural form: the rack is provided with a rectangular frame, a plurality of groups of mounting frames are fixed on the rectangular frame, each mounting frame is composed of guide rods, and each mounting frame comprises a first guide rod, a second guide rod and a third guide rod; the mounting frame is provided with a left clamping device and a right clamping device which are distributed on the left side and the right side of the placing frame, the left clamping device comprises at least two left hook plates and a first driving cylinder, the left hook plates are arranged in parallel with the length direction of the rectangular frame, the first driving cylinder is mounted on a second guide rod and a third guide rod through a cylinder bottom plate, and each left hook plate is connected with a piston rod of the first driving cylinder through a connecting piece; the right clamping device comprises at least two right hook plates parallel to the length direction of the rectangular frame, a second driving cylinder and a sliding mechanism, wherein the sliding mechanism comprises a first guide rod support, a second guide rod support, two separated guide rails and a first sliding seat, the first sliding seat is connected with the two separated guide rails in a sliding manner, two ends of the two separated guide rails are respectively fixed on the first guide rod support and the second guide rod support, one end of the second driving cylinder is installed on the first guide rod and the second guide rod through a cylinder tail seat and a cylinder base, the right hook plate is provided with a draw hook arm, the draw hook arm is installed on the first sliding seat and is connected with a piston rod of the second driving cylinder to perform translation motion, and the left hook plate and the right hook plate are close to or separated through the operation of the first driving cylinder and the second driving cylinder.

Preferably, a plurality of groups of unpowered roller assemblies are arranged in the rectangular frame, and each powered roller assembly comprises a first fixed plate, a second fixed plate and a spring pressed unpowered roller fixed between the first fixed plate and the second fixed plate.

Preferably, the turning device controls the speed of the rack when rotating through a speed change control device, and the speed change control device comprises a first proximity switch seat, a second proximity switch seat and a third proximity switch seat which are circumferentially arranged on a first fixed seat; the first proximity switch seat, the second proximity switch seat and the third proximity switch seat are respectively provided with a first proximity switch, a second proximity switch and a third proximity switch; the tail end of the rotating shaft is provided with a signaling wheel, the signaling wheel is provided with a lug, and the signaling wheel is provided with a lug which triggers a first proximity switch, a second proximity switch and a third proximity switch in sequence in the rotating process and the rotating process of the rotating shaft; further controlling the overturning speed of the placing frame; the danger that the tread falls due to too fast overturning of the overturning device can not occur, the whole overturning process is stable, and the danger is not easy to occur.

Preferably, the bottoms of the first servo motor, the first fixing seat and the second fixing seat are respectively provided with a first angle adjusting plate,

The first angle adjusting plate, the second angle adjusting plate and the third angle adjusting plate are provided with slopes; at least two groups of mounting holes are arranged on the slopes of the first angle adjusting plate, the second angle adjusting plate and the third angle adjusting plate.

Preferably, an anti-tail-flicking mechanism is arranged above the tread stretching and conveying mechanism, the anti-tail-flicking mechanism comprises a connecting seat, at least one long-tooth chain wheel shaft, a swinging shaft check ring, a long-tooth chain wheel shaft check ring, a first swinging arm and a third swinging arm, swinging shaft check rings are arranged at two ends of the swinging shaft, the first swinging arms are respectively arranged at two sides of the swinging shaft and are in a 7-shaped design, the first swinging arms are connected with the third swinging arms through connecting bolts, the connecting seat comprises a left connecting seat and a right connecting seat which are respectively arranged at the left side and the right side, and the two third swinging arms are respectively pivoted on the left connecting seat and the right connecting seat; two ends of the long-tooth chain wheel shaft are respectively arranged on the left connecting seat and the right connecting seat, long-tooth chain wheel shaft check rings are arranged at two side ends of the long-tooth chain wheel shaft, and a plurality of first tooth chain wheels are arranged on the long-tooth chain wheel shaft; before the tread is attached, after the tread reaches the lower surface of the first toothed sprocket, the first toothed sprocket is jacked up due to the fact that the tread has a certain thickness, the first toothed sprocket penetrates into the tread, a synchronous belt is arranged below the tread, the synchronous belt is driven to drive the tread to be conveyed forward, and the first toothed sprocket propped on the tread is driven to be rotated, so that tail flicking is prevented. As a preferred embodiment, a second swing arm is arranged perpendicular to the length direction of the swing shaft, and the free end of the second swing arm is connected with a second toothed chain wheel through a short toothed chain wheel shaft; the second toothed sprocket further increases the frictional force between the tread and the timing belt, reduces tread slip, and prevents the tread from drifting off the laminating drum due to speed effects.

Preferably, the laminating device comprises a multi-layer roller mechanism and a valve island mechanism, wherein the multi-layer roller mechanism comprises a first mounting piece and a second mounting piece which are arranged left and right, at least one supporting rod and a multi-layer roller are arranged between the first mounting piece and the second mounting piece, the multi-layer roller is positioned above the rear end of the tread stretching and conveying mechanism, the front sides of the first mounting piece and the second mounting piece are respectively connected with an air cylinder through a Y-shaped air cylinder joint, and the two air cylinders are respectively fixed on the front sides of a left side plate and a right side plate; the multi-layer roller consists of N pressure rollers, the pressure of the N pressure rollers pressed on the tread is divided into m pressure areas, m is smaller than N, the valve island mechanism comprises N small air cylinders and m groups of proportional pressure reducing valves, the N small air cylinders are divided into m pressure areas, the pressure of the N small air cylinders is controlled by the m pressure areas in a central symmetry mode, and the N pressure areas are controlled by the m groups of proportional pressure reducing valves automatically.

Compared with the existing centering device, the centering device provided by the invention has better centering effect, the test result of the length measuring device is more accurate, the industrial robot starts to automatically grab the tread, and if no tread is detected on the current hinge, the hinge is automatically opened to grab the next tread; the calculation method of synchronous conveying of the driving wheel and the synchronous belt is adopted for the first time, and the mode of matching the pressing roller with the valve island mechanism is adopted at the tail part, so that the laminating precision is greatly improved.

Drawings

FIG. 1 is a schematic view of a tread automatic feed system;

FIG. 2 is a schematic view of a feeding device 1;

FIG. 3 is a schematic view of a feeding device 2;

FIG. 4 is a schematic view of the structure of the turn-over device 1;

FIG. 5 is a schematic view of the reverse structure of FIG. 4;

FIG. 6 is an enlarged view of a portion of the shift control device;

FIG. 7 is a schematic view of a conveyor;

FIG. 8 is a schematic illustration of the primary power mechanism and front tension roller assembly of the tread stretching structure;

FIG. 9 is a schematic view of a servo drive mechanism;

FIG. 10 is an enlarged schematic view of a wobble assembly of the servo drive mechanism;

FIG. 11 is an enlarged schematic view of an anti-rattle mechanism;

FIG. 12 is a schematic view of a fitting device;

FIG. 13 is a schematic structural view of a centering mechanism;

FIG. 14 is a schematic view of a spacing adjustment device;

FIG. 15 is a schematic view of a length measuring device.

Detailed Description

The invention is described in detail below with reference to the attached drawing figures:

as shown in fig. 1, an automatic tread feeding system comprises a shutter car 10, a grabbing device, a feeding device 100 and a PLC controller; the gripping device 11 transfers the tread on the shutter car 10 to the feeding device 100 and then attaches the tread to the belt drum, and the tread is positioned behind the feeding device (not shown in the figure); the shutter car, the grabbing device and the feeding device are in signal connection with the PLC;

Multiple layers of hinges are formed on the shutter car 10, and each hinge 1101 is provided with a layer of tread; the multi-layer tire tread is vertically arranged and respectively arranged on the chopped hinges, the shutter vehicle is a common trolley for storing tire treads in workshops, an operator pushes the shutter vehicle loaded with the tire treads into a working position, and mechanisms such as a cylinder, a guide wheel and the like automatically push the trolley in place and fix the trolley; when the gripping device, such as a robot, detects that the current hinge 1101 is not tread, the page is turned up and secured.

The grabbing device comprises a four-axis industrial robot 11, wherein the four-axis industrial robot is purchased, and the four-axis industrial robot 11 is arranged on a vertical driving linear module and a horizontal linear module to realize lifting and translation actions; the manipulator of the four-axis industrial robot is provided with two rows of vacuum chucks 1105, 1106 arranged in parallel, and the number of the vacuum chucks in each row is 14, so that 14 groups of vacuum chucks are formed, and the vacuum chucks are sucked or separated from the tread by a vacuum generator such as a vacuum pump;

the vertical driving linear module and the horizontal linear module are driven by two servo motors to realize lifting or translation of the four-axis industrial robot as required, and the linear module at least comprises a sliding seat, a sliding rail and the like which are fixed at one end of the industrial robot. In the present embodiment, only three of the four axes (axis 2 1102, axis 3 1103, axis 4 1104) need be used specifically as follows: the horizontal position of the grabbing manipulator is kept under the linkage of the shaft 2 1102, the shaft 3 1103 and the shaft 4 1104, the adsorption surface is downward, the grabbing manipulator enters the shutter car according to a set track, the shaft 2 1102 rotates to enable the grabbing manipulator to be downward, the grabbing manipulator touches the tread, and 14 groups of true grabbing manipulators are arranged on the grabbing manipulator

The empty suction cups 1105, 1106 begin to draw vacuum, the tread is sucked through the suction cups, and then the manipulator moves out of the blind car along the original track. Machinery

After gripping the tread, the hand moves to the tread feeding position under the linkage of the shaft 2 1102, the shaft 3 1103 and the shaft 4 1104. The shaft 4 further rotates the robot wrist when moving to the lowermost end, with the tread facing upwards and kept horizontal, and then places the tread on a placement frame.

As shown in fig. 2 and 3, the feeding device 100 comprises a frame 19, a turn-over device 12 arranged on the frame, a conveying device, a centering device 14, a length measuring device 15, an anti-tail-flick mechanism 18 and a fitting device; the frame 19 has a first bracket 190 and a second bracket 191 in parallel in the length extending direction thereof;

1. turning device

As shown in fig. 4 and 5, a first group of support frames 1901 and a second group of support frames 1902 are arranged on the first support frame 190 from the outside to the inside, and a first fixing seat 1206 and a second fixing seat 1207 are respectively arranged at the left end and the right end of the second group of support frames 1902; the turnover device comprises a first servo motor 1201, a rotating shaft 1205 and a placing frame 1204; two ends of a rotating shaft 1205 are pivotally arranged on a first fixed seat 1206 and a second fixed seat 1207 and are in transmission connection with a first servo motor 1201 through a coupler 1202, a placing frame 1204 is arranged on the rotating shaft 1205 and is positioned on a first group of supporting frames 1901 when the rotating shaft 1205 does not rotate, and the first servo motor 1201 drives the placing frame 1204 to rotate by driving the rotating shaft 1205;

A taking and placing device for taking and placing the tread is arranged on the placing rack (1204); the pick-and-place device may take various forms, such as 1: the action of taking and placing the tread by the turn-over device can be realized by sucking or separating the tread by the vacuum chuck; in this embodiment, the rack has a rectangular frame 12041, where the rectangular frame 12041 is fixed with multiple sets of mounting frames, and the mounting frames are composed of guide rods, and as shown in fig. 3, the mounting frames include a first guide rod 1267, a second guide rod 1268, and a third guide rod 1269; the picking and placing device comprises a left clamping device and a right clamping device which are distributed on the left side and the right side of the placement frame 1204, the left clamping device comprises at least two left hook plates 1242 which are parallel to the length direction of the rectangular frame 12041 and a first driving air cylinder 1240, the first driving air cylinder 1240 is arranged on a second guide rod 1268 and a third guide rod 1269 through an air cylinder bottom plate 1243, and each left hook plate 1242 is connected with a piston rod of the first driving air cylinder 1240 through a connecting piece 1241; the right clamping device comprises at least two right hook plates 1270 parallel to the length direction of the rectangular frame, a second driving cylinder 1251 and a sliding mechanism, wherein the sliding mechanism comprises a first guide rod support 1260, a second guide rod support 1261, two separated guide rails 1265 and 1266 and a first sliding seat 1264, the first sliding seat 1264 is connected with the two separated guide rails 1265 and 1266 in a sliding manner, two ends of the two separated guide rails 1265 and 1266 are respectively fixed on the first guide rod support 1260 and the second guide rod support 1261, one end of the second driving cylinder 1251 is installed on a first guide rod 1267 and a second guide rod 1268 through a cylinder tail 1252 and a cylinder base 1250, the right hook plate comprises a translation hook and a drag hook arm 1271 is installed on the first sliding seat 1264 and is connected by a piston rod of the second driving cylinder to perform translation motion, and the left hook plate and the right hook plate are close to or separated through the work of the first driving cylinder 1240 and the second driving cylinder 1251; the more preferred implementation mode is: a first limiting block 1262 and a second limiting block 1263 are arranged on the two guide rails 1265 and 1266 respectively in front of and behind, and a limiting plate 1245 is arranged on the upper cover of at least two left hook plates 1242;

In addition, within the rectangular frame 12401 are set several sets of power roller assemblies including a first fixed plate 1281, a second fixed plate 1282, and a spring pressed unpowered roller 1280 secured between the first fixed plate 1281 and the second fixed plate 1282; in this embodiment, the speed of the turning device when the rack performs the rotation action is controlled by a speed change control device, as shown in fig. 5 and 6, where the speed change control device includes a first proximity switch seat 1212, a second proximity switch seat 1213, and a third proximity switch seat 1214 circumferentially mounted on the first fixed seat 1206; as shown, the first proximity switch seat 1212, the second proximity switch seat 1213, and the third proximity switch seat 1214 are each an arc-shaped iron block, and three arc-shaped iron blocks are annularly arranged, and the first proximity switch, the second proximity switch, and the third proximity switch (not shown) are respectively mounted on the first proximity switch seat 1212, the second proximity switch seat 1213, and the third proximity switch seat 1214 through holes; the end of the rotating shaft is provided with a signaling wheel 1215, the signaling wheel 1215 is provided with a lug 1216, and the rotating shaft 1205 is provided with a lug 24 for triggering a first proximity switch, a second proximity switch and a third proximity switch in sequence in the rotating process and the rotating process; thereby controlling the turnover speed of the rack 1204; the danger that the tread falls due to too fast overturning of the overturning device can not occur, the whole overturning process is stable, and the danger is not easy to occur.

Additionally, the bottoms of the first servo motor 1201, the first fixed seat 1206 and the second fixed seat 1207 are respectively provided with a first angle adjusting plate 1209, a second angle adjusting plate 1208 and a third angle adjusting plate 1210, and the first angle adjusting plate 1209, the second angle adjusting plate 1208 and the third angle adjusting plate 1210 are provided with slopes; at least two groups of mounting holes are arranged on the slopes of the first angle adjusting plate, the second angle adjusting plate and the third angle adjusting plate. The tread is placed on the tread rest and clamped by the pick-and-place device. The PLC sends an instruction to automatically turn the tread, so that the turning speed of the tread is guaranteed to the maximum extent while the tread is prevented from being damaged due to the tread falling, the turning process is subjected to variable speed design, and the turning process sequentially triggers the first proximity switch, the second proximity switch and the third proximity switch.

The second bracket 191 is provided with a conveying device, a centering device 14, a length measuring device 15, an anti-tail-flick mechanism 18 and a bonding device.

2. Conveying device

As shown in fig. 2 and 3, the conveying device comprises a tread roller mechanism 13, a servo driving mechanism 16 and a tread conveying mechanism 17, a mounting frame 22 is arranged on the second bracket 191, the mounting frame 22 is surrounded by a front side plate 2203, a left side plate 2202 and a right side plate 2201, the rear side opening of the mounting frame faces towards the belt drum for attaching the tread conveying belt drum, the tread roller mechanism 13 and the tread conveying mechanism 17 are arranged in the mounting frame 22, and the tread conveying mechanism 17 is arranged at the downstream of the tread roller mechanism 13;

1. Tread roller way mechanism 13

As shown in fig. 7, the tread roller mechanism comprises a universal ball shaft assembly and a carrier roller assembly, the carrier roller assembly is positioned at the downstream of the universal ball shaft assembly, the universal ball shaft assembly comprises a plurality of universal ball shafts 1304 which are arranged in parallel and a plurality of universal balls 1303 which are arranged on the universal ball shafts 1304, two ends of each universal ball shaft 1304 are respectively arranged on a left side plate 2202 and a right side plate 2201, and a reinforcing rib plate is longitudinally extended from the plurality of universal ball shafts 1304; the carrier roller assembly comprises a plurality of rows of roller shafts 1307 and a plurality of rows of roller bodies 1308 sleeved on the outer sides of the roller shafts, two ends of the plurality of rows of roller shafts 1307 are respectively arranged on a left side plate 2202 and a right side plate 2201, and two ends of the roller bodies are provided with limiting sleeves 1310; in this embodiment, a set of idlers 1305 are provided between the ball and socket assemblies;

2. tread conveying mechanism 17

As shown in fig. 8, the timing belt 1701 is not shown in fig. 8, referring to fig. 6, the tread conveying mechanism 17 at least comprises a main driving mechanism, a front tensioning roller assembly and a timing belt 1701, the front tensioning roller assembly comprises a first transmission roller 1702, a second transmission roller 1705 and a timing belt lining board 1706, the timing belt 1701 is wrapped on the transmission roller and the front tensioning roller assembly, the main driving mechanism comprises a fourth servo motor 1703, a speed reducer, a transmission roller 1708 and the like, the fourth servo motor 1703 drives the transmission roller 1708 through the speed reducer, the transmission roller 1708 is connected with the front tensioning roller assembly through the timing belt 1701, and the lower side of the timing belt is provided with the timing belt lining board 1707;

3. Servo drive mechanism 16

As shown in fig. 9 and 10, the servo driving mechanism comprises a swinging component, a lifting component and a driving wheel component, wherein the swinging component and the lifting component drive the driving wheel component to swing and lift so as to enable the driving wheel and the tread to generate or stop transmission; the swinging assembly comprises a swinging arm 1616, a rotating shaft 1617, a mounting bottom plate 1615 and a swinging cylinder (refer to fig. 9), the lifting assembly comprises a third driving cylinder, a linear guide rail 1612 and a second sliding seat 1610, the driving wheel assembly comprises a third servo motor 1606, a speed reducer 1605 and a driving wheel 1601, the side surface of the left side plate is provided with the mounting bottom plate 1615, a first bearing seat 1613 and a second bearing seat 1614 on the mounting bottom plate 1615, the rotating shaft 1617 is arranged on the first bearing seat 1613 and the second bearing seat 1614 through bearings, the swinging arm 1616 is sleeved on the rotating shaft 1617 and is driven by the swinging cylinder (not shown in the inner side of the frame) to drive the rotating shaft 1617 to swing, the top end of the rotating shaft 1617 is connected to the mounting plate 1609 (refer to fig. 9), the second sliding seat 1610 is arranged on the mounting plate, the third driving cylinder drives the linear guide rail 1612 to move on the second sliding seat 1610, namely, the linear guide rail 1612 is driven to lift and displace, and the driving wheel 1601 is driven to lift away from the tread or approaches the tread; the third servo motor 1606 is connected through a speed reducer 1605, an output shaft of the speed reducer 1605 is connected with a driving wheel 1601, the third servo motor 1606 is connected with a linear guide 1612 through a motor side plate 1604 and a connecting block 1607, a cover plate 1608 is arranged on the connecting block 1607, the cover plate 1608 is connected with a piston rod of a third driving cylinder, and the driving wheel comprises an outer driving wheel, a driving inner wheel 1602, a motor cover plate 1603 and the like.

The tread coming down from the tread line will shrink after a period of storage, so the actual length of the tread before fitting will be shorter than the standard length, which is the primary condition for achieving an automatic joint. If the detected tread length is longer than the standard tread length, the automatic switching is carried out to a manual mode, manual fitting is carried out by manual intervention, and the joint is manually abutted. In this embodiment, the tread is automatically attached, and the joint is automatically abutted: the tread is attached only by means of the speed difference between the synchronous belt and the belt drum, and the phenomena of tread slipping and inaccurate attachment are caused, so that the invention designs a tread driving wheel to provide double power for tread transmission, and the double power is kept between the tread driving wheel and the transmission belt to be 1: 1. the speed ratio and the lamination process adopt a ratchet-shaped compression roller to press the tread, so that the friction force is increased, and the tread is effectively prevented from slipping on the conveying belt. If the standard length of the tread is L (mm), the actual length of the tread is L' (mm), the rotational speed of the belt drum is a reference value, and a (rpm) is set as the process setting value, the time required for one rotation of the belt drum is t=60/a(s), and therefore the linear speed of the drum head at the time of bonding is L/t=l×a/60 (mm/s). In order to enable the shortened tread to realize joint butt joint, only the linear speed of the joint feeding device is reduced, and the tread is lengthened while being jointed through the speed difference. The linear speed of the conformable feed belt is L '/t=l' ×a/60 (mm/s) such that the belt drum rotates one revolution and the tread tail just interfaces with the head. That is, the present invention provides a calculation method in which the transfer speed ratio of the timing belt 1701 to the transfer speed of the drive wheel 1601 is 1: 1, a step of; the tread is conveyed forward, the speed of the whole section of tread is consistent, the tread cannot be stretched, the tread driving wheel 1601 provides power for conveying the tread, and the calculation method is clarified by matching the speed control fit joint between the synchronous belt 1701 and the belt drum.

4. Tail flick preventing mechanism 18

In this embodiment, as shown in fig. 11, an anti-tail-flicking mechanism 18 is disposed above the tread conveying mechanism, the anti-tail-flicking mechanism includes a connecting seat 1810, two parallel long toothed sprocket shafts 1811, a swinging shaft 1805, a swinging shaft retainer 1817, a long toothed sprocket shaft retainer 1812, a first swinging arm 1806, and a third swinging arm 1808, two ends of the swinging shaft 1805 are provided with swinging shaft retainers 1817, two sides of the swinging shaft are respectively provided with a first swinging arm 1806, the first swinging arm 1806 is in a 7-shaped design, the first swinging arm 1806 is connected with the third swinging arm 1808 through a connecting bolt 1807, the connecting seat 1810 includes a left connecting seat and a right connecting seat which are respectively disposed on the left side and the right side, and the two third swinging arms 1808 are respectively pivoted on the left connecting seat and the right connecting seat; two ends of the long-tooth sprocket shaft 1811 are respectively arranged on the left connecting seat and the right connecting seat, long-tooth sprocket shaft check rings 1812 are arranged at two side ends of the long-tooth sprocket shaft 1811, and a plurality of first tooth sprockets 1801 are arranged on the long-tooth sprocket shaft 1811; before the tread is attached, after the tread reaches the lower surface of the first toothed sprocket 1801, the first toothed sprocket 1801 is jacked up due to a certain thickness of the tread, the first toothed sprocket 1801 pierces into the tread, the synchronous belt 1701 is arranged below the tread, the synchronous belt 1701 is driven to drive the tread to be conveyed forward, and the first toothed sprocket 1801 propped on the tread is also driven to rotate to prevent tail flicking.

As a preferred embodiment, a second swing arm 1804 is arranged perpendicular to the length direction of the swing shaft 1805, and the free end of the second swing arm 1804 is connected to a second toothed sprocket 1802 through a short toothed sprocket shaft 1803; the second toothed sprocket 1802 further increases the friction between the tread and the synchronous belt 1701, reduces tread slip, and prevents the tread from drifting off the fitting drum due to speed.

3. Attaching device

As shown in fig. 12, the laminating device comprises a multi-layer roller mechanism 20 and a valve island mechanism 21, wherein the multi-layer roller mechanism 20 comprises a first mounting member 2001 and a second mounting member 2002 which are arranged left and right, three supporting rods 2003 and multi-layer rollers 2004 are arranged between the first mounting member 2001 and the second mounting member 2002, the multi-layer rollers 2004 are positioned above the front end of the tread conveying mechanism, the front sides of the first mounting member 2001 and the second mounting member 2002 are respectively connected with an air cylinder 2006 through Y-shaped air cylinder 2005 joints, and the two air cylinders 2006 are respectively fixed on the front sides of a left side plate 1302 and a right side plate 1301; the multi-layer roller 2004 consists of 94 pressure rollers, the pressure of the 94 pressure rollers pressed on the tread is divided into 16 pressure areas, the valve island mechanism 21 comprises 94 small air cylinders 2101 and 16 groups of proportional pressure reducing valves, the 94 small air cylinders are divided into 16 pressure areas, the 16 pressure areas are used for controlling the pressure of the 94 small air cylinders in a central symmetry mode, and the 16 pressure areas are automatically controlled by the 16 groups of proportional pressure reducing valves; the pressure laminating is controlled by the cooperation of a plurality of pressure multi-layer rollers.

According to the specification of tread, the actual length of tread before laminating, the feeding speed of cooperation tread, automatic control tread laminating and tread joint quality.

All-steel tread is characterized by tread width, upper surface shape, and different shapes for tread of different specifications. The design of multi-disc pressure roller can be fine solve and lead to laminating quality not good problem because tread upper surface height is uneven. Because the multi-disc roller comprises 94 small pressure plates, the surface of the pressure roller can be changed along with the shape of the tread, so that the whole tread can be compacted in the tread laminating process, and the laminating quality is greatly improved.

4. Centering device

As shown in fig. 13 and 14, the centering device includes a first centering roller mounting bar 142 and a second centering roller mounting bar 143; a plurality of baffle rollers 147 are longitudinally arranged on the first centering roller mounting bar 142 and the second centering roller mounting bar 143, and the transverse spacing between the first centering roller mounting bar 142 and the second centering roller mounting bar 143 is adjusted by three groups of spacing adjusting devices 141; two sets of interval adjustment devices 141 are arranged in parallel with the short side of the tread conveying direction, each set of interval adjustment devices comprises a first support rod 146, a second support rod 145, a fifth servo motor 1401 (refer to fig. 1), a first slide 1405, a second slide 1406, a third slide 1407, a fourth slide 1408, a guide tube 1410, a screw 1412 and a guide rail 1409 (refer to fig. 14); one ends of a first supporting rod 146 and a second supporting rod 145 are respectively arranged on a first centering roller installation bar 142 and a second centering roller installation bar 143, the other ends of the first supporting rod 146 and the second supporting rod 145 are respectively connected with a first sliding block 1405 and a second sliding block 1406, a guide tube 1410 is fixed through a first clamping block 1402 and a second clamping block 1403, a first guide groove 1415 and a second guide groove 1411 are formed in one side of the guide tube 1410, the lead screw 1412 is arranged on the inner side of the guide tube 1410, a first spiral sleeve 1414 and a second spiral sleeve 1413 are respectively arranged on two sides of the lead screw 1412, the first spiral sleeve 1414 and the second spiral sleeve 1413 are in threaded connection with the lead screw 1412, a first sliding block 1414 and a second sliding block 1413 are slidably arranged on the guide rod and are respectively connected with the first spiral sleeve 1414 and the second spiral sleeve 1413 which extend out of the first guide groove 1415 and the second guide groove 1411, a third sliding seat 1407 and a fourth sliding seat 1408 are respectively arranged at the bottom of the first sliding block 1408 and the second sliding block 1406, a guide rail 1409 is arranged at the bottom of the third sliding seat 1407 and the fourth sliding seat 1412, a fifth servo motor 1412 is driven by the first sliding seat 1412 and the second sliding seat 1412 to rotate along the first guide rod 1412 and the first sliding block 143 or the second sliding block 143 to move along the first centering roller 143 or the first sliding rod 1412 and the second sliding rod 1412; preferably, a deep groove ball bearing is arranged between the screw sleeve and the guide pipe, one end of the screw sleeve is connected with the servo motor, and the other end of the screw sleeve is provided with a spacer. Under the cooperation of the centering blocking roller and the universal wheel, the tread can be automatically centered, the inclined tread can be finally parallel to the edge of the tread feeding frame, and the length measurement result of the tread is more accurate;

5. Length measuring device

As shown in fig. 1, 12 and 15, the length measuring device 15 includes a first detecting bracket 1501 and a second detecting bracket 1503 respectively provided on the front side and the rear side of the mounting frame, a first detecting position sensor 1502 and a second detecting position sensor 1504 are respectively provided on the first detecting bracket 1501 and the second detecting bracket of the tread roller mechanism, the first detecting position sensor 1502 and the second detecting position sensor 1504 are provided above the tread roller mechanism, the second detecting bracket 1503 translates along the tread conveying direction through a transmission mechanism and a pressing plate 1505, the transmission mechanism includes a sixth servomotor 1506, a synchronous pulley 1507, a tensioning mechanism 1508 and a transmission synchronous belt 1509, the sixth servomotor 1506 is in transmission connection with the synchronous pulley 1507 through a speed reducer, the bottom end of the second detecting bracket 1503 is mounted on a detecting mounting bottom plate 1510, the detecting mounting bottom plate 1510 is fixed on the transmission synchronous belt 1509 in cooperation with the pressing plate 1505, and a fifth slide seat and a slide rail 1511 are provided at the bottom of the detecting mounting bottom plate 1510, wherein the tensioning mechanism further includes a tensioning wheel, a damping disc 1512 and the like; the first and second detection position sensors are correlation photoelectric switch and laser sensor.

After the tread is centered by the centering device, power is provided by the driving wheel for the tread to move forwards, the tread head stops moving after reaching the first detection position sensor, the sixth servo motor drives the second detection support to move forwards, after detecting the tread tail through the second detection position sensor, the sixth servo motor stops driving and records the displacement S of the second detection support, the total length from the first detection position to the second detection position resident position on the tread conveying frame is L, and the total length of the tread is L-S.

The working process of the tread feeding system provided by the invention is as follows:

1. pushing the shutter car loaded with the tread into a working position by an operator, and automatically pushing and fixing the car in place by a cylinder, a guide wheel and other mechanisms;

2. the four-axis industrial robot starts to automatically grab the tread, and if no tread is detected on the current hinge, the hinge is automatically opened to grab the next tread.

3. The robot grabbing manipulator is provided with 14 groups of vacuum adsorption devices, and the tire tread is sucked and lifted by utilizing a vacuum chuck after the tire tread is grabbed.

4. The multi-joint characteristic of the industrial robot is utilized, the tire tread is placed on a placing frame of a turning device after being grabbed, the placing frame is driven by rotation of a rotating shaft to achieve turning of the tire tread, and then the tire tread is placed on a conveying device;

5. The PLC sends out an instruction, and the first baffle roller mounting strip are folded to enable the tread to be centered.

6. After the tread is restored to the middle, the head of the tread is transmitted to the first detection position, the second detection support drives the second detection sensor to start moving, the tail of the tread is detected, the walking displacement is recorded, and the actual length of the tread is obtained.

7. In the tread laminating process, the speed difference between the laminating speed of the forming drum and the feeding speed of the tread is adjusted in real time according to the length of the tread, so that the tread joint is correctly abutted.

8. In the attaching process, the pressure of the multi-piece pressure roller pressing tread is divided into 16 pressure areas, and the pressure value of each pressure area is preset as a formula to be automatically switched according to the treads with different specifications. Realizing perfect fit of the fit surface of the tread and each contact position of the lower product.

It should be noted that the above embodiments are merely representative examples of the present invention. Many variations of the invention are possible. Any simple modification, equivalent variation and modification of the above embodiments according to the principles of the present invention should be considered to fall within the scope of the present invention.

Claims (7)

1. The tread automatic feeding device comprises a frame (19), a turnover device (12) arranged on the frame, a conveying device, a centering device (14), a length measuring device (15), an anti-tail-flick mechanism (18) and a bonding device; the frame (19) is provided with a first bracket (190) and a second bracket (191) in parallel in the length extending direction;

A first group of support frames (1901) and a second group of support frames (1902) are arranged on the first support frame (190) from the outer side to the inner side, and a first fixing seat (1206) and a second fixing seat (1207) are respectively arranged at the left end and the right end of the second group of support frames (1902); the turnover device comprises a first servo motor (1201), a rotating shaft (1205) and a placing frame (1204); the two ends of the rotating shaft (1205) are pivotally arranged on the first fixing seat (1206) and the second fixing seat (1207) and are in transmission connection with the first servo motor (1201), the placing rack (1204) is arranged on the rotating shaft (1205) and positioned on the first group of supporting frames (1901) when the rotating shaft does not rotate, the first servo motor (1201) drives the placing rack (1204) to rotate through driving the rotating shaft (1205), and a taking and placing device for taking and placing the tread is arranged on the placing rack (1204);

the second bracket (191) is provided with a conveying device, a centering device (14), a length measuring device (15), an anti-tail-flick mechanism (18) and a bonding device;

the conveying device comprises a tread roller way mechanism (13), a servo driving mechanism (16) and a tread conveying mechanism (17), a mounting frame (22) is arranged on a second support (191), the mounting frame (22) is formed by surrounding a front side plate (2203), a left side plate (2202) and a right side plate (2201), a rear side opening of the mounting frame faces towards a belt drum and is used for attaching the tread conveying belt drum, the tread roller way mechanism (13) and the tread conveying mechanism (17) are arranged in the mounting frame (22), and the tread conveying mechanism (17) is arranged at the downstream of the tread roller way mechanism (13);

The tread roller way mechanism comprises a universal ball shaft assembly and a carrier roller assembly, the carrier roller assembly is positioned at the downstream of the universal ball shaft assembly, the universal ball shaft assembly comprises a plurality of universal ball shafts (1304) which are arranged in parallel and a plurality of universal balls (1303) which are arranged on the universal ball shafts (1304), two ends of each universal ball shaft (1304) are respectively arranged on a left side plate (2202) and a right side plate (2201), and a reinforcing rib plate is longitudinally extended from the plurality of universal ball shafts (1304); the carrier roller assembly comprises a plurality of rows of roller shafts (1307), a plurality of rows of roller bodies (1308) sleeved on the outer sides of the roller shafts, two ends of each row of roller shafts (1307) are respectively arranged on a left side plate (2202) and a right side plate (2201), and two ends of each roller body are provided with limiting sleeves (1310);

the tread conveying mechanism (17) at least comprises a fourth servo motor (1703), a speed reducer, a transmission roller, a front tensioning roller assembly and a synchronous belt (1701), wherein the fourth servo motor (1703) drives the transmission roller through the speed reducer; the driving roller is connected with the front tensioning roller assembly through a synchronous belt;

the servo driving mechanism comprises a swinging assembly, a lifting assembly and a driving wheel assembly, wherein the swinging assembly and the lifting assembly drive the driving wheel assembly to swing and lift so as to enable the driving wheel and the tread to generate or stop transmission; the swing assembly comprises a swing arm (1616), a rotating shaft (1617), a mounting base plate (1615) and a swing cylinder, the lifting assembly comprises a third driving cylinder, a linear guide rail (1612) and a second sliding seat (1610), the driving wheel assembly comprises a third servo motor (1606), a speed reducer and a driving wheel (1601), the mounting base plate (1615) is mounted on the side face of the left side plate, a first bearing seat (1613) and a second bearing seat (1614) are mounted on the mounting base plate (1615), the rotating shaft (1617) is mounted on the first bearing seat (1613) and the second bearing seat (1614) through bearings, the swing arm (1616) is sleeved on the rotating shaft (1617) and is driven by the swing cylinder to drive the rotating shaft (1617) to swing, the free end of the rotating shaft (1617) is connected to the mounting plate (1609), the second sliding seat (1610) is arranged on the mounting plate, the third driving cylinder drives the linear guide rail (1612) to move on the second sliding seat, and the third servo motor is connected with the driving wheel (1601) through the speed reducer;

The centering device comprises a first centering roller mounting bar (142) and a second centering roller mounting bar (143); a plurality of baffle rollers (147) are longitudinally arranged on the first centering roller mounting bar (142) and the second centering roller mounting bar (143), and the transverse distance between the first centering roller mounting bar (142) and the second centering roller mounting bar (143) is adjusted by at least two groups of distance adjusting devices (141); the two groups of interval adjusting devices (141) are arranged in parallel with the short side of the tread conveying direction, and each group of interval adjusting devices comprises a first supporting rod (146), a second supporting rod (145), a fifth servo motor (1401), a first sliding block (1405), a second sliding block (1406), a third sliding block (1407), a fourth sliding block (1408), a guide pipe (1410), a screw rod (1412) and a guide rail; one ends of a first supporting rod (146) and a second supporting rod (145) are respectively arranged on the inner side of the guide pipe (1410), a first guide groove (1415) and a second guide groove (1411) are formed in one side of the guide pipe (1410), a first screw sleeve (1414) and a second screw sleeve (1413) are respectively arranged on two sides of the screw rod (1412), the first screw sleeve (1414) and the second screw sleeve (1413) are respectively in threaded connection with the screw rod (1412), the first slide block and the second slide block are respectively arranged on the guide rod (1405) and the second slide block (1406) in a sliding penetrating manner, the inner sides of the first slide block and the second slide block are respectively extended from the first guide groove (1415) and the second guide groove (1411), a first screw sleeve (1413) and a second slide block (1413) are respectively arranged on the inner sides of the guide pipe (1410), a first slide seat (1417) and a fourth slide seat (1408) are respectively arranged on the two sides of the screw rod (1412), and a fourth slide seat (1417) are respectively arranged on the bottom of the first slide seat (1417), a fifth servo motor (1401) drives a first sliding block (1405) and a second sliding block (1406) to move along a guide pipe (1410) by driving a screw rod (1412) to rotate, so as to drive a first centering roller mounting bar (142) and a second centering roller mounting bar (143) to approach or separate;

The length measuring device (15) comprises a first detection bracket (1501) and a second detection bracket (1503) which are respectively arranged on the front side and the rear side of the mounting frame, a first detection position sensor (1502) and a second detection position sensor (1504) are respectively arranged on the first detection bracket (1501) and the second detection bracket (1503), the second detection bracket (1503) translates along the tread conveying direction through a transmission mechanism and a pressing plate (1505), the transmission mechanism comprises a sixth servo motor (1506), a synchronous pulley (1507), a tensioning mechanism (1508) and a transmission synchronous belt (1509), the sixth servo motor (1506) is connected with the synchronous pulley (1507) through a speed reducer, the synchronous pulley is connected with the tensioning mechanism through the transmission synchronous belt, the bottom end of the second detection bracket (1503) is arranged on a detection mounting bottom plate (1510), the detection mounting bottom plate (1510) is matched and fixed on the transmission synchronous belt (1509), and a fifth sliding seat and a sliding seat (1511) are arranged at the bottom of the transmission synchronous belt.

The tire tread conveying mechanism is characterized in that an anti-tail-flicking mechanism (18) is arranged above the tire tread conveying mechanism, and the attaching device comprises a multi-layer roller mechanism (20) and a valve island mechanism (21).

2. Tread automatic feeding device according to claim 1, characterized in that the conveying speed of the synchronous belt (1701) and the conveying speed of the driving wheel are 1: 1.

3. Tread automatic feeding device according to claim 1, characterized in that the pick-and-place device is realized by the following structural form: the rack is provided with a rectangular frame (12041), a plurality of groups of mounting frames are fixed on the rectangular frame (12041), the mounting frames are composed of guide rods, and each mounting frame comprises a first guide rod (1267), a second guide rod (1268) and a third guide rod (1269); the mounting frame is provided with a left clamping device and a right clamping device which are distributed on the left side and the right side of the placement frame (1204), the left clamping device comprises at least two left hook plates (1242) which are arranged in parallel with the length direction of the rectangular frame (12041) and a first driving air cylinder (1240), the first driving air cylinder (1240) is arranged on a second guide rod (1268) and a third guide rod (1269) through an air cylinder bottom plate (1243), and each left hook plate (1242) is connected with a piston rod of the first driving air cylinder (1240) through a connecting piece (1241); the right clamping device comprises at least two right hook plates (1270) parallel to the length direction of the rectangular frame, a second driving cylinder (1251) and a sliding mechanism, wherein the sliding mechanism comprises a first guide rod support (1260), a second guide rod support (1261), two separated guide rails (1265,1266) and a first sliding seat (1264), the first sliding seat (1264) is connected with the two separated guide rails (1265,1266) in a sliding mode, two ends of the two separated guide rails (1265,1266) are respectively fixed on the first guide rod support (1260) and the second guide rod support (1261), one end of the second driving cylinder (1251) is installed on a first guide rod (1267) and a second guide rod (1268) through a cylinder tail seat (1252) and a cylinder base (1250), the right hook plate (1270) is provided with a draw hook arm (1271), the draw hook arm (1271) is installed on the first sliding seat (1264) and is connected with a piston rod of the second driving cylinder to perform translation motion, and the left hook plate and the right hook plate are separated or close to the right hook plate are achieved through the first driving cylinder (1240) and the second driving cylinder (1251).

4. Tread automatic feeding device according to claim 1, characterized in that the turning device controls the speed of the rack in performing the rotation action by means of a variable speed control device comprising a first proximity switch seat (1212), a second proximity switch seat (1213) and a third proximity switch seat (1214) circumferentially mounted on the first fixed seat (1206); mounting a first proximity switch, a second proximity switch, and a third proximity switch on a first proximity switch mount (1212), a second proximity switch mount (1213), and a third proximity switch mount (1214); the end of the rotating shaft is provided with a signaling wheel (1215), and the signaling wheel (1215) is provided with a lug (1216).

5. Tread automatic feeding device according to claim 1, characterized in that an anti-tail flick mechanism (18) is arranged above the tread conveying mechanism, and comprises a connecting seat (1810), at least one long sprocket shaft (1811), a swinging shaft (1805), a first swinging arm (1806) and a third swinging arm (1808); two ends of the swinging shaft (1805) are provided with swinging shaft check rings (1817), two sides of the swinging shaft are respectively provided with a first swinging arm (1806), the first swinging arm (1806) is connected with a third swinging arm (1808) through a connecting bolt (1807), the connecting base (1810) comprises a left connecting base and a right connecting base which are respectively arranged at the left side and the right side, and the two third swinging arms (1808) are respectively pivoted on the left connecting base and the right connecting base; the two ends of the long-tooth chain wheel shaft (1811) are respectively arranged on the left connecting seat and the right connecting seat, long-tooth chain wheel shaft check rings (1812) are arranged at the tail ends of the two sides of the long-tooth chain wheel shaft (1811), and a plurality of first tooth chain wheels (1801) are arranged on the long-tooth chain wheel shaft (1811).

6. Tread automatic feeding device according to claim 1, wherein the thousand-layer roller mechanism (20) comprises a first mounting piece (2001) and a second mounting piece (2002) which are arranged left and right, at least one supporting rod (2003) and a thousand-layer roller (2004) are arranged between the first mounting piece (2001) and the second mounting piece (2002), the thousand-layer roller (2004) is positioned above the rear end of the tread conveying mechanism, the front sides of the first mounting piece (2001) and the second mounting piece (2002) are respectively connected with a cylinder (2006) through Y-shaped cylinder (2005) joints, and two cylinders (2006) are respectively fixed on the front sides of a left side plate (1302) and a right side plate (1301); the multi-layer roller (2004) is composed of N pressure rollers, the pressure of the N pressure rollers pressed on the tread is divided into m pressure areas, m is smaller than N, the valve island mechanism comprises N small air cylinders (2101) and m groups of proportional pressure reducing valves, the N small air cylinders are divided into m pressure areas, the pressure of the N small air cylinders is controlled by the m pressure areas in a central symmetry mode, and the m pressure areas are controlled by the m groups of proportional pressure reducing valves automatically.

7. The automatic tread feeding device as recited in claim 5, wherein a second swing arm is provided perpendicular to the length direction of the swing shaft, the free end of the second swing arm being connected to the second toothed sprocket by a short toothed sprocket shaft.