CN111168891A

CN111168891A - Operation method of bead rubbing mechanism of waste heavy-duty tire casing crushing robot

Info

Publication number: CN111168891A
Application number: CN202010110125.5A
Authority: CN
Inventors: 杨松
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-02-23
Filing date: 2020-02-23
Publication date: 2020-05-19

Abstract

The invention relates to the technical field of environmental protection, in particular to an operation method of a bead rubbing mechanism of a waste heavy-duty tire casing crushing robot. The method is characterized in that: the tensioning spring is tensioned to enable the rubbing knives and the chain roller to be tightly attached to the processing surfaces on two sides of the tire bead, the chain wheel drives the chain roller to move and is opposite to the rubbing direction of the rubbing knives, the filled rubber is rubbed away from the high-strength steel wire, when the rubbing knives feed and touch the high-strength steel wire, the tensile strength and the surface hardness of the high-strength steel wire are high, mechanical energy generated by the rubbing knives and the high-strength steel wire is converted into elastic potential energy of the tensioning spring, namely, radial extrusion force of the rubbing knives and the chain roller is effectively removed, so that the rubbing knives and the chain roller are effectively protected, the tire bead is sent into the bow-shaped chain roller rubbing and grinding machine step by the rotation of the three-jaw power chuck working table, the rubbing knives and the chain roller are matched to rub and break.

Description

Operation method of bead rubbing mechanism of waste heavy-duty tire casing crushing robot

Technical Field

The invention relates to the technical field of environmental protection, in particular to an operation method of a bead rubbing mechanism of a waste heavy-duty tire casing crushing robot.

Background

Waste tires are common solid waste pollutants, people recycle the waste tires through a plurality of ways to realize harmless treatment, the existing treatment modes comprise rubber powder preparation, reclaimed rubber preparation, fuel oil preparation and the like, and the treatment modes all need to decompose and crush the waste tires. The existing waste tires mainly comprise car tires, truck tires, agricultural tires, engineering tires, special vehicle tires, aviation tires, motorcycle tires, bicycle tires and the like, wherein the truck tires have large number ratio, and the tires have complex structures and are not easy to decompose and break. The Chinese invention patent (patent application number 201810181223.0, named as an automatic waste tire block cutting production line) discloses an automatic waste tire block cutting production line, which is characterized in that: the automatic waste tire block cutting production line comprises a tire feeding device, an automatic tire flat cutting device, an automatic tire overturning device, a tire strip cutting machine, a tire block cutting machine, a mouth ring conveying belt, a rubber block conveying belt and a mouth ring frame; the tire feeding device comprises a feeding rack, a guide rail, a motor, a driving wheel, a first driven wheel, a second driven wheel, a first limiting plate, a slide way, a side baffle and a propelling device, wherein the guide rail is arranged at the bottom of the feeding rack, waste tires are arranged on the guide rail, the two slide ways are arranged at the top of the feeding rack, the motor, the driving wheel, the first driven wheel and the second driven wheel are arranged on the feeding rack, the driving wheel, the first driven wheel and the second driven wheel are connected through a chain, an output shaft of the motor is connected with a central shaft of the driving wheel, two ends of the first limiting plate are respectively arranged on the corresponding slide ways through slide seats, and one end of the first limiting plate extends outwards and is connected with the chain, the first limiting plate abuts against the waste tire positioned at the rear part of the feeding rack, a propelling device is arranged at an outlet in front of the feeding rack, and a push plate of the propelling device abuts against the waste tire. The side baffles are uniformly arranged at two sides of the feeding rack, and the waste tires are positioned between the two slideways; the automatic tyre flat-cutting device comprises a flat-cutting frame, a pushing trolley, a flat-cutting first oil cylinder, a rotating connecting rod, a rotating arm, a flat-cutting second oil cylinder, an X-shaped lifting frame, a rack motor, a fixed cutter device, a flat-cutting third oil cylinder, a moving cutter device and a rack, wherein the pushing trolley is arranged at the rear end of a slideway on the outer side of a conveying frame of the flat-cutting frame and can move back and forth along the conveying frame of the flat-cutting frame to push, a cylinder body of the flat-cutting first oil cylinder is hinged to a crosspiece on the lower portion of the rear side of the flat-cutting frame, a piston portion of the flat-cutting first oil cylinder is hinged to one end of the rotating connecting rod, the middle portion of the rotating connecting rod is hinged to a vertical crosspiece on the lower portion of the rear side of the flat-cutting frame, the other end of the rotating connecting rod is fixedly connected with one end of the rotating arm, a cylinder body of the flat, the rack motor is arranged on a vertical frame at the center of the flat cutting rack, the rack is matched with the rack motor, the fixed cutter device is arranged at the lower end of the rack, when the rack motor is started and the rack moves downwards to a flat cutting position, the fixed cutter device is positioned at the center in the tire of the waste tire, the cylinder body of the flat cutting third oil cylinder is hinged with the vertical frame at the front side of the flat cutting rack, the piston part of the flat cutting third oil cylinder is hinged with the middle part of the movable cutter device, one end of the movable cutter device is hinged with the flat cutting rack, the other end of the movable cutter device is provided with a cutter, the flat cutting third oil cylinder is ejected out, and when the cutter of the movable cutter device moves to the flat cutting position, the cutter corresponds to the outer side; the automatic flat cutting device for the tires further comprises an arc-shaped guide rail, and the arc-shaped guide rail is arranged at the rear end of the flat cutting rack. The automatic tire overturning device comprises a vertical frame, a mouth ring positioning and tensioning device, a first overturning frame, a first connecting rod, a first oil cylinder, a fixing frame, a second connecting rod, a second oil cylinder and a second overturning frame, wherein the first overturning frame and the second overturning frame are arranged at the top of the vertical frame, the fixing frame is fixedly connected to the vertical frame, the first connecting rod is in an inverted L shape, one end of the first connecting rod is fixedly connected with the right end of the first overturning frame, the bending part of the first connecting rod is hinged to the left end of the fixing frame, the other end of the first connecting rod is connected with a piston part of the first oil cylinder, a cylinder body of the first oil cylinder is arranged on the vertical frame, the left end of the second connecting rod is hinged to the right end of the fixing frame, the right end of the second connecting rod is fixedly connected with the left end of the second overturning frame, the cylinder body of the second oil cylinder is hinged to the vertical frame, and the piston part of the second. The mouth ring positioning and tensioning device comprises claw arms, a mounting seat, three connecting rods, a sliding shaft, a cavity, four third limiting plates, a matching block and a third oil cylinder, wherein the matching block is positioned in the cavity, a fixed seat fixed with the cavity is arranged in the center of the first turnover frame, one ends of the four third connecting rods are respectively hinged around the mounting seat, the other ends of the four third connecting rods are respectively hinged with the middle parts of the corresponding claw arms, the lower end of the sliding shaft downwards penetrates through the mounting seat to extend into the cavity, the lower end of the sliding shaft is connected with the matching block, the cylinder body of the third oil cylinder is fixed at the lower end of the cavity through the mounting plate, the piston part of the third oil cylinder corresponds to the lower end of the matching block, the second limiting plate is arranged at the top of the sliding shaft, and the lower ends of the four claw arms are respectively hinged, under the dead weight of the matching block, the claw arm and the sliding shaft, the sliding shaft moves downwards along the vertical direction of the cavity. The initial position of the claw arm of the mouth ring positioning and tensioning device is positioned below the center of the waste tire after flat cutting, and the top of the claw arm extends out of the cavity. The Chinese invention patent (patent application number is 201410327288.3, the patent name is a waste tire bead peeling machine) discloses a waste tire bead peeling machine, which is characterized by comprising a pair of extrusion wheels for extruding tire beads, wherein the extrusion wheels are provided with inclined grooves, and the directions of the inclined grooves of the two extrusion wheels are opposite; the extrusion wheels are provided with a distance adjusting mechanism for adjusting the distance between the two extrusion wheels; the extrusion wheels are provided with power sources for driving the extrusion wheels to rotate, and the rotation directions of the two extrusion wheels are opposite; the device also comprises a rack for mounting the extrusion wheels and a hoisting device for hoisting the waste tires, wherein the two extrusion wheels are inclined towards the outer side of the rack. The invention discloses a novel waste tire stripping and slicing integrated machine (the patent application number is 201910748197.X, the patent name is a novel waste tire stripping and slicing integrated machine), which comprises a cutting device (1) and a slicing device (2), wherein one side of the cutting device (1) is integrally provided with the slicing device (2), the cutting device (1) comprises an upper circular disc cutter (3), a lower circular disc cutter (4), a cutting rack and a waste tire supporting structure, the upper circular disc cutter (3) and the lower circular disc cutter (4) are both arranged on the cutting rack of the cutting device (1), and the waste tire supporting structure is characterized in that the waste tire supporting structure is positioned at one side close to the upper circular disc cutter (3) and the lower circular disc cutter (4), the waste tire supporting structure comprises a supporting head (34) and a supporting block (12), the supporting head (34) is positioned at one side of an inner ring of a waste tire, and the supporting block (12) is positioned at the bottom of the waste tire, and a clamping groove (13) is formed in the supporting block (12), and the bottom of the waste tire is clamped in the clamping groove (13). The invention relates to a Chinese patent (patent application number is 201710965599.6, the patent name is a waste radial steel wire tire ring opening wire taking device) and discloses a waste radial steel wire tire ring opening wire taking device, which comprises a rolling module (1), an attraction module (2), a lifting module (3), a machine basin (4) and support legs (5), wherein the machine basin (4) is of a barrel-shaped structure, the support legs (5) are installed at the bottom of the machine basin (4), the support legs (5) are installed on the ground through foundation screws, a plurality of circles of upward convex cones are arranged at the bottom of the machine basin (4), cylindrical discharge holes are formed in the bottom surfaces of adjacent cones, and a through hole for the rolling module (1) to pass through is formed in the middle of the machine basin (4); the rolling module (1) is installed in the machine basin (4), and the rolling module (1) crushes the tire rubber in the machine basin (4); the suction module (2) is arranged below the machine basin (4), and the suction module (2) generates downward acting force on the rolling module (1) and is used for increasing the extrusion force of the rolling module (1) on the ring opening rubber; the lifting module (3) is arranged above the machine basin (4), and the lifting module (3) is used for lifting the rolling module (1), so that tires can be conveniently placed in the machine basin (4); the rolling module (1) comprises a spline shaft (11), a roll shaft (12), a rolling wheel (13), a self-tapping screw (14), a bearing (15), a shaft sleeve (16), a support (17), a reduction gearbox (18) and a main motor (19), wherein the reduction gearbox (18) and the main motor (19) are arranged on the support (17); the bracket (17) is arranged below the machine basin (4); the spline shaft (11) is a stepped shaft, the spline shaft (11) is connected with an output shaft of the reduction gearbox (18), and the spline shaft (11) penetrates through a through hole at the bottom of the machine basin (4) to be connected with the roll shaft (12); the middle part of the roll shaft (12) is provided with a spline hole, and the spline shaft (11) is inserted into the spline hole to drive the roll shaft (12) to rotate; the rolling wheel (13) is arranged on the roll shaft (12) through a bearing (15) and a shaft sleeve (16), and a plurality of circles of self-tapping screws (14) are vertically welded on the outer surface of the rolling wheel (13).

The device for cutting off the tire bead (opening ring) of the automatic waste tire block cutting production line in the prior art is used for firstly finishing the process of cutting off the waste tire in a flat mode, namely, the tire is divided into two parts along the tire surface in a flat cutting mode, so that the half tire is provided with one tire bead, the tire bead needs to be clamped, cut and separated twice, the production efficiency is naturally low, the influence on the following cutting and block cutting process is large, the reason is that the rest parts after the tire bead is cut off have no reference for positioning and clamping by clamps, and the technical details of cutting off the waste tire are not disclosed, so that technicians in the field have a question about the adoption of the flat cutting means for finally realizing block cutting and tire breaking. In the second prior art, the working principle of peeling off the steel wire of the tire bead is that the tire bead is extruded and peeled off through two rollers with inclined grooves, and actually, a pair of rollers shear and damage the high-strength steel wire, so that a cutter is easily damaged, and a hoisting device for hoisting waste tires cannot reliably clamp and process the waste tires. In the prior art, the third device cuts the strips through the circular cutter and the lower circular cutter and then cuts the strips, and has the defect that the automatic production cannot be realized, and the problem that how to reliably clamp materials is difficult is not disclosed, and the technical details of how to feed the materials are not disclosed. The prior art can finish positioning and clamping the tire, but does not disclose the technical details of how to feed, and the machine basin for containing the waste tire is designed into a barrel-shaped structure, so that the closed structure causes a lot of troubles to automatic production.

Disclosure of Invention

Aiming at the problems, the invention aims to provide an operation method of a bead rubbing mechanism of a waste heavy-duty tire casing crushing robot, which is characterized by comprising the following steps:

after the tire bead and the tire body are cut and separated, a pair of tire beads are clamped by a three-jaw power chuck to wait for a track trolley to send an arched chain roller rubbing mill to a machining position, at the moment, a rocker arm assembly and a turret tool rest in the arched chain roller rubbing mill are both in standby stations, the track trolley is started to send the arched chain roller rubbing mill to the machining position, two tire beads are sequentially rubbed and machined, the rocker arm assembly and the turret tool rest are converted into a machining state according to preset station coordinates, a vertical shaft and a rubbing tool are driven to finish accurate machining and positioning, and meanwhile, an arched support and the chain assembly also finish accurate machining and positioning.

And step two, tensioning a tensioning spring to enable a rubbing cutter and a chain roller to be attached to the processing surfaces on two sides of the tire bead, driving the chain roller to move by a chain wheel and rubbing the rubbing cutter in the opposite direction, rubbing the filled rubber and the high-strength steel wire away, when the rubbing cutter is fed to touch the high-strength steel wire, enabling the tensile strength and the surface hardness of the high-strength steel wire to be high, converting mechanical energy generated by the rubbing cutter and the high-strength steel wire into elastic potential energy of the tensioning spring, namely effectively removing radial extrusion force of the rubbing cutter and the chain roller, thereby effectively protecting the rubbing cutter and the chain roller, enabling the three-jaw power chuck working table to rotate to feed the tire bead into an arched chain roller rubbing machine step by step, enabling the rubbing cutter to be matched with the chain roller to rub and crush the tire bead section step by step, repeating the steps.

The inventors have found that a heavy duty tire is composed of a cover, an inner tube and a rim strip. The outer tire consists of three main parts, namely a tire body, a tire tread and a tire bead, wherein the tire body is formed by laminating a plurality of layers of rubberized cord fabrics according to a certain angle, and the cord fabrics are usually made of high-strength steel wires and synthetic fiber rubberized fabrics; the tread contacts with the ground and is made of heat-resistant and shear-resistant rubber materials; the tyre bead is used for tightly fixing the tyre on a wheel rim, and mainly comprises a steel wire ring, triangular filling rubber and steel wire ring wrapping cloth. The tire tread of the waste heavy-duty tire casing is usually close to the completion of abrasion, only the casing and the tire bead part are left, the casing part is usually deformed and damaged in different degrees due to abrasion, tire burst and the like, but the tire bead cannot be deformed and kept complete, the reason is that the steel wire ring formed by the high-strength steel wire and the filling rubber can bear various interaction forces of the casing and the rim, and the tire casings of different specifications can be sorted and sorted by measuring the diameters of the tire beads because the tire beads are not deformed and damaged.

The inventor finds that, as is known in the technical field, the support of the workpiece clamp cannot be removed by adopting a machining mode, whether the workpiece clamp is used for clamping firmly and reliably and the accurate positioning of the workpiece is guaranteed to be closely related to the selection of the clamping part of the workpiece, and the tire bead is undoubtedly an ideal part which is suitable for clamping and positioning in the waste tire, so that the waste tire can be reliably clamped and the design difficulty of the clamp is reduced. The tyre bead is a steel wire ring formed by high-strength steel wires and filling rubber, the tensile strength and the surface hardness of the high-strength steel wires in the steel wire ring are high, the high-strength steel wires are not easy to break mechanically, and cord fabrics in the tyre body are usually made of thin high-strength steel wires or synthetic fiber hanging rubber and can be broken mechanically. Therefore, the tire body and the tire bead need to be respectively crushed, the structure of the tire body and the tire bead can be regarded as double-layer concentric rings, a three-jaw power chuck worktable is designed according to the working principle of a chuck type horizontal lathe fixture, the tire bead is clamped and positioned by the three-jaw power chuck, a boring and cutting feed box is designed according to the boring and cutting processing principle to cut and separate the tire bead and the tire body, after the waste tire is cut off and separated from the tire bead, the tire body is in an inner gap ring shape, if the annular tire body with the notch is cut off, the cut tire body is laid on a plane, the tire body becomes a regular long rectangular plate, therefore, the tire bead rubbing and crushing process flow can sequentially comprise the steps of clamping the tire bead by a three-jaw power chuck for positioning, cutting off the tire body by a portal cutting-off machine, cutting and separating the tire bead from the tire body by a boring feeding box, flatly coiling the tire body by a tire body strip grabbing roller machine, standing the tire bead clamped by the three-jaw power chuck, and upward processing by an arched chain roller rubbing and grinding machine of an epicyclic track trolley.

The inventor finds that the turnover track trolley moves in a reciprocating mode along the track in a straight line, the track is provided with two stations in total, the distance between the two stations is equal to the distance between a collecting clamping roller assembly mounted on the turnover track trolley and a machining center of an arched chain roller rubbing machine, when the turnover track trolley is at the station I, the collecting clamping roller assembly enters the station I from the station II to vertically position the waste tires conveyed by a roller sorting sliding frame, and the arched chain roller rubbing machine enters the station II to rub and break the tire beads; when the turnover track trolley is positioned at a station II, the collecting and clamping roller assembly clamps the waste tire and returns to the station II from the station I, the three-jaw power chuck workbench clamps and positions the waste tire, the feeding box is cut off to cut and separate the tire bead from the tire body, and the bow-shaped chain roller rubbing mill exits from the station II to stand by.

The inventor finds that the tire bead is a steel wire ring formed by high-strength steel wires and filling rubber, the tensile strength and the surface hardness of the high-strength steel wires in the steel wire ring are high, a cutter is easy to damage by mechanical crushing such as shearing processing, and the steel wires are preferably separated from rubber coating by adopting a rubbing method, wherein the rubbing method is that the cutter rubs the processing surfaces on the two sides of the tire bead relatively so as to provide friction force in opposite directions for the processing surfaces of the tire bead, the filling rubber and the steel wires are rubbed away, and the cutter on the two sides is not subjected to radial extrusion force, namely the cutter is not damaged by applying shearing force to the high-strength steel wires, so that the service life of the cutter can be prolonged and the. In order to realize the purpose of rubbing, the arch-shaped chain roller rubbing machine is arranged on a track trolley and is sent to a processing position of a three-jaw power chuck working table by the track trolley, the three-jaw power chuck working table rotates to send the tire bead into the arch-shaped chain roller rubbing machine step by step, and a rubbing cutter is matched with the chain roller to rub and break the tire bead section by section. The arch chain roller rubbing and grinding machine comprises a rocker arm component, a turret tool rest, a vertical shaft, a rubbing knife, a chain component and an arch support, wherein the rocker arm component and the turret tool rest are both designed with a standby state and a processing state and work stations, the precise processing and positioning of the vertical shaft can be completed by ensuring enough freedom degree of the vertical shaft, the rubbing knife is arranged on the vertical shaft, a knife edge is a sawtooth-shaped spiral groove, the purpose is to increase the gripping force on rubber filled in a tire bead, the rocker arm component is fixed on the arch support, a bow string of the arch support is a chain component formed by a chain wheel, a chain roller and a tension spring, by utilizing the principle that the bow can store and release elastic potential energy, when the rubbing knife is fed into the filled rubber, the tension spring in the chain component is tensioned to enable the rubbing knife and the chain roller to be tightly attached to the processing surfaces on two sides of the tire bead, the chain roller is, when the feed of the twisting knife touches the high-strength steel wire, the mechanical energy generated by the twisting knife and the high-strength steel wire is converted into the elastic potential energy of the tension spring, namely, the radial extrusion force of the twisting knife and the chain roller is effectively removed, so that the twisting knife and the chain roller are effectively protected, the service life is prolonged, and the energy consumption is saved.

Compared with the prior art, the invention at least has the following advantages: firstly, the tire bead is a steel wire ring formed by a high-strength steel wire and filling rubber, the tensile strength and the surface hardness of the high-strength steel wire in the steel wire ring are high, a cutter is easy to damage by mechanical crushing such as shearing, and the steel wire is preferably separated from rubber coating by adopting a rubbing method, wherein the rubbing method is that the cutter rubs the processing surfaces at two sides of the tire bead relatively, so that friction forces in opposite directions are provided for the processing surfaces of the tire bead, the filling rubber and the steel wire are rubbed away, and the cutter at two sides does not bear radial extrusion force, namely the cutter is not damaged by applying shearing force to the high-strength steel wire, so that the service life of the cutter can be prolonged and the energy consumption can be; secondly, the workshop for processing the waste heavy-duty tire casings generally has dust pollution and is a main factor for occupational disease hazards, the automatic finishing of the waste heavy-duty tire casings avoids manual operation, the health of operators is protected, the labor intensity of the operators is reduced, and automatic production is realized.

Drawings

Fig. 1 is a schematic structural view of a main view of an operation method of the bead rubbing mechanism of the waste heavy-duty tire casing breaking robot of the invention.

3 FIG. 32 3 is 3 a 3 schematic 3 diagram 3 of 3 an 3 A 3- 3 A 3 section 3 arrangement 3 and 3 a 3 station 3 structure 3 of 3 the 3 operation 3 method 3 of 3 the 3 waste 3 heavy 3- 3 duty 3 tire 3 casing 3 crushing 3 robot 3 bead 3 rubbing 3 mechanism 3. 3

Fig. 3 is a structural schematic diagram of a big sample B of the operation method of the bead rubbing mechanism of the waste heavy-duty tire casing crushing robot of the invention.

FIG. 4 is a schematic diagram of a C-C section arrangement and a second station structure of the operation method of the bead rubbing mechanism of the waste heavy-duty tire casing crushing robot of the invention.

Fig. 5 is a schematic diagram of a D-direction structure of the operation method of the bead rubbing mechanism of the waste heavy-duty tire casing crushing robot of the invention.

Fig. 6 is a partial enlarged structural schematic diagram of E of the operation method of the bead rubbing mechanism of the waste heavy-duty tire casing breaking robot of the invention.

1-three-jaw power chuck workbench 2-rail trolley 3-rocker arm assembly 4-turret tool rest

5-vertical shaft 6-twisting knife 7-tension spring 8-chain wheel 9-chain roller 10-bow-shaped support

11-chain assembly 12-arcuate chain roller attrition mill.

Detailed Description

The invention is further described with reference to the following detailed description of embodiments and drawings.

As shown in fig. 1, 2, 3, 4, 5 and 6, the operation method of the bead rubbing mechanism of the waste heavy-duty tire casing crushing robot is characterized in that:

after the tire bead and the tire body are cut and separated, a pair of tire beads are clamped by a three-jaw power chuck 1 to wait for a track trolley 2 to send an arched chain roller grinding machine 12 to a machining position, at the moment, a rocker arm component 3 and a turret tool rest 4 in the arched chain roller grinding machine 12 are both in standby stations, the track trolley 2 is started to send the arched chain roller grinding machine 12 to the machining position, two tire beads are ground and machined sequentially, the rocker arm component 3 and the turret tool rest 4 are changed into a machining state according to preset station coordinates, a vertical shaft 5 and a grinding tool 6 are driven to finish accurate machining and positioning, and meanwhile, an arched support 10 and a chain component 11 also finish accurate machining and positioning.

And step two, tensioning a tension spring 7 to enable a rubbing cutter 6 and a chain roller 9 to be tightly attached to the processing surfaces on two sides of the tire bead, driving the chain roller 9 to move by a chain wheel 8, wherein the rubbing direction of the chain roller 9 is opposite to that of the rubbing cutter 6, the filled rubber and the high-strength steel wire are rubbed away, when the rubbing cutter 6 is fed to touch the high-strength steel wire, the tensile strength and the surface hardness of the high-strength steel wire are high, mechanical energy generated by the rubbing cutter 6 and the high-strength steel wire is converted into elastic potential energy of the tension spring 7, namely, the radial extrusion force of the rubbing cutter 6 and the chain roller 9 is effectively removed, so that the rubbing cutter 6 and the chain roller 9 are effectively protected, the three-jaw power chuck working table 1 rotates to feed the tire bead step by step into an arched chain roller rubbing machine 12, the rubbing cutter 6 and the chain roller 9 are matched to rub and break the tire.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. The operation method of the bead rubbing mechanism of the waste heavy-duty tire casing crushing robot is characterized in that: after cutting and separating the tire bead and the tire body, clamping a pair of tire beads by a three-jaw power chuck to wait for a track trolley to send an arched chain roller rubbing mill to a processing position, wherein a rocker arm component and a turret tool rest in the arched chain roller rubbing mill are both in standby stations, starting the track trolley to send the arched chain roller rubbing mill to the processing position, sequentially rubbing and processing two tire beads, converting the rocker arm component and the turret tool rest into a processing state according to preset station coordinates, driving a vertical shaft and a rubbing tool to finish accurate processing and positioning, and simultaneously finishing accurate processing and positioning of an arched support and a chain component; and step two, tensioning a tensioning spring to enable a rubbing cutter and a chain roller to be attached to the processing surfaces on two sides of the tire bead, driving the chain roller to move by a chain wheel and rubbing the rubbing cutter in the opposite direction, rubbing the filled rubber and the high-strength steel wire away, when the rubbing cutter is fed to touch the high-strength steel wire, enabling the tensile strength and the surface hardness of the high-strength steel wire to be high, converting mechanical energy generated by the rubbing cutter and the high-strength steel wire into elastic potential energy of the tensioning spring, namely effectively removing radial extrusion force of the rubbing cutter and the chain roller, thereby effectively protecting the rubbing cutter and the chain roller, enabling the three-jaw power chuck working table to rotate to feed the tire bead into an arched chain roller rubbing machine step by step, enabling the rubbing cutter to be matched with the chain roller to rub and crush the tire bead section step by step, repeating the steps.