A system for buffing tires comprising:
- a rotary mandrel (6) (10) for supporting at least one tire (7) (8) (9);
- means for identifying a position of the at least one tire (7) (8) (9);
- an automatic robotic arm (1) containing at least three moveable joints (2) (3) (4) that performs angular interpolation movements, wherein the automatic robotic arm (1) comprises:
- a first horizontal arm (13) configured to move in a first arm horizontal plane in relation to the ground connecting the axis with a first moveable joint (2) to an axis with a second moveable joint (3);
- a second horizontal arm (14) configured to move in a second arm horizontal plane in relation to the ground connecting the axis with the second moveable joint (3) to an axis with a third moveable joint (4);
- and a selected tool (5) engaged at an end of the second horizontal arm on the axis of the third moveable joint (4), said selected tool configured for buffing tires;
- a control panel provided with a software that orientates the approaching of the automatic robotic arm (1) to the at least one tire (7) (8) (9) based on the identified position of the said tire;
- the joints (2) (3) (4) are composed of actuator motor (21);
- the actuator motor (21) is coupled to a reducer (22) and this assembly is bearing to a reduction gearbox (25), transmitting the rotation of the actuator motor (21) to the gearbox (25);
- to transmit the rotational movement to the robotic arm (1), the gearbox (25) is attached to the sleeve (11) of the robot arm (1) by means of clamping elements, so that when the actuator motor (21) is driven, the gearbox (25) rotates the arm (1) simultaneously;
- this shirt (11) has an internal disc (111) where the gearbox (25) is attached, and receives a cover (112) in its upper portion, to protect its interior, fixed by fastening elements;
- the joint (2) has its lower part attached to a bearing (26) that can be fixed to a support;
- and the joints (3) and (4) have a protection (27) fixed to their lower part, through fastening elements, to prevent dirt from entering the actuator motor (2);
- in addition, the tool (5) is attached to the joint (4) in its upper part;
- wherein the first moveable joint (2) of the automatic robotic arm (1) is fixed independently of the rotary mandrel (6) (10);
- wherein the automatic robotic arm (1) is capable of rotating three hundred sixty degrees around the axis of the first moveable joint (2) and automatically placing the selected tool (5) near one of the tires (7) (8) (9) placed within a reaching range of the automatic robotic arm (1)
- wherein the software, based on the contour of the tire to be buffed, perform angular interpolations to orientate the movement of the selected tool (5) and the horizontal arms (13,14) around the said tire.