Clamping device and stacking device

Abstract

This invention relates to a clamping device that reduces the number of components in a cargo detection unit. In a stacking device (31), a tire (T) is placed on a transport surface (5a). A first clamping part (33a) and a second clamping part (33b) clamp the side of the tire (T) placed on the transport surface (5a) and have abutment surfaces (33a1, 33b1) including a bend that can abut against the side of the tire (T). A first sensor (73a) and a second sensor (73b) have optical axes that traverse the bend and are along the cargo direction. A controller (71) moves the first clamping part (33a) and the second clamping part (33b) to a first position close to where the tire is not clamped, and if the first sensor (73a) and the second sensor (73b) detect the tire, the first clamping part (73a) and the second clamping part (73b) move to a second position where the tire is clamped, bringing them closer together.

Description

Technical Field

[0001] This invention relates to clamping devices, and more particularly to clamping devices for holding round goods. Background Technology

[0002] Previously, tire clamping devices that clamp and move tires were known (see, for example, Patent Document 1).

[0003] The tire clamping device for the covered vehicle described in Patent Document 1 includes a lifting platform, clamping claws, and sensors disposed on the clamping claws. In this covered vehicle, the clamping claws are disposed on the inside of the tires and support the tires from the inside.

[0004] Patent Document 1: Japanese Patent Application Publication No. 11-228070

[0005] In existing tire clamping devices, the tire position needs to be detected during manual tire clamping actions. Conventionally, such a detection unit has been a mechanical structure consisting of a detection plate, a spring, and a detector on the detection plate.

[0006] In such a detection unit, because it is mechanical, the number of parts increases. Summary of the Invention

[0007] The purpose of this invention is to reduce the number of components in the cargo detection unit in the clamping device.

[0008] The following sections will explain several methods as units for solving problems. These methods can be combined arbitrarily as needed.

[0009] One aspect of the present invention relates to a clamping device comprising a mounting portion, a pair of clamping portions, a sensor, and a controller.

[0010] The loading section holds round goods.

[0011] A pair of clamping parts clamp the side of the goods placed on the mounting part, and have a contact surface including a bent part that can abut against the side of the goods.

[0012] The sensor has an optical axis that traverses the buckling and runs along the direction of the cargo.

[0013] The controller moves a pair of clamping parts to a first position where the goods are detected by the sensor even though they are not clamped, receives a detection signal from the sensor, and then moves the pair of clamping parts to a second position where they clamp the goods, bringing them closer to each other.

[0014] Alternatively, when viewed from above, the shape of the bend can be, for example, an arc or part of a V-shape. For instance, if the bend is an arc, it is the curved part; if it is a V-shape, it is the bent part.

[0015] With the presence of the buckling portion, a pair of clamping portions can abut along the side of the round cargo, and the cargo can be detected before the abutting surface contacts the cargo.

[0016] Alternatively, the controller can confirm sensor-based cargo detection from the moment the pair of grippers stop at the first position. Alternatively, the controller can confirm sensor-based cargo detection without stopping the pair of grippers at the first position. In this case, if cargo cannot be detected, the movement of the pair of grippers ends after passing the first position.

[0017] In this device, the contact surfaces of the pair of clamping parts have bent portions, and the goods are circular. Therefore, the goods can be detected non-contactly before clamping. Thus, even if the diameters of the clamped goods are different, they can be detected correctly.

[0018] In this device, the sensor is non-contact, thus reducing the number of components.

[0019] Alternatively, when viewed from above, the contact surface is an arc shape, and the sensor is set so that the optical axis intersects with two points of the arc.

[0020] In addition, the optical axis can be parallel to the line connecting the ends of the arc, or it can be aligned with the line connecting the ends of the arc.

[0021] In this device, the contact surfaces of the pair of clamping parts are arc-shaped, and the goods are circular. Therefore, the goods can be detected non-contactly before clamping. Thus, even if the diameters of the clamped goods are different, they can be detected correctly.

[0022] In this device, the sensor is non-contact, thus reducing the number of components.

[0023] Alternatively, the optical axis can be orthogonal to the direction of movement of a pair of clamping parts.

[0024] Alternatively, when viewed from above, the optical axis connects the end side of the arc of the first clamping part to the end side and connects the end side of the arc of the second clamping part to the end side.

[0025] This device can detect goods in a non-contact manner at a position away from the contact surface, thus enabling reliable detection of goods.

[0026] Alternatively, the cargo could be a tire with sides having grooves extending in a horizontal direction.

[0027] Alternatively, the sensor can be configured such that the optical axis is tilted upwards relative to the horizontal direction.

[0028] In this device, because the optical axis is tilted, it is less likely for the optical axis to enter the grooves of the tire. As a result, the tire can be detected accurately.

[0029] In addition, "a ditch extending horizontally" can be considered as a whole extending horizontally, including straight lines and zigzag patterns.

[0030] Alternatively, if the sensor detects cargo, the controller stops the movement of the clamping part equipped with the sensor in one of the pair of clamping parts.

[0031] Alternatively, for the controller, even if the sensor detects the goods, the movement of the clamping part equipped with the sensor in the pair of clamping parts will continue. If the movement distance of one of the clamping parts exceeds a predetermined distance and the sensor does not detect the goods, the movement of that clamping part will be stopped and an abnormality will be handled.

[0032] Alternatively, the controller may move the pair of clamping parts to a first position and stop at the first position when the first item is moved in and clamped while there is no space between the pair of clamping parts. If the first item is detected by the sensor, the controller may move the pair of clamping parts to a second position to clamp the first item in a way that brings them closer together.

[0033] Alternatively, the controller may move a pair of clamping parts from the first position to the second position to clamp the second item after the second item is clamped.

[0034] Alternatively, the controller can confirm that the goods are being clamped via sensors after the pair of clamping parts stop at the second position relative to the second goods.

[0035] In this device, the second item that is brought in after the second item does not stop at the first position, thus shortening the cycle time.

[0036] The reason why the second item may not stop at the first position is that, for example, for the first item, the pair of clamping parts are moved in a way that brings them close to each other and stop at the first position. Therefore, by storing this position, the amount of movement of the pair of clamping parts up to the second position can be determined.

[0037] In addition, the sensor is used for the first cargo to stop the pair of clamping parts at the first position, and for the second cargo to confirm that the pair of clamping parts are clamping the second cargo at the second position.

[0038] Other aspects of the present invention relate to a stacking device comprising: the aforementioned clamping device; and a driving device that drives a pair of clamping portions in the horizontal and vertical directions.

[0039] In the clamping device involved in this invention, the number of components in the cargo detection unit is reduced. Attached Figure Description

[0040] Figure 1 This is a schematic top view of the transport system according to the first embodiment.

[0041] Figure 2 This is a schematic side view of the first positioning device.

[0042] Figure 3 This is a schematic side view of the first positioning device.

[0043] Figure 4 It is a schematic three-dimensional diagram of a stacked device.

[0044] Figure 5 This is a schematic front view of the stacked device.

[0045] Figure 6 This is a schematic partial top view illustrating the clamping action of the stacking device.

[0046] Figure 7 This is a schematic partial top view illustrating the clamping action of the stacking device.

[0047] Figure 8 This is a schematic partial top view illustrating the clamping action of the stacking device.

[0048] Figure 9 This is a schematic partial top view illustrating the clamping action of the stacking device.

[0049] Figure 10 This is a block diagram representing the control structure of a stacked device.

[0050] Figure 11 This is a flowchart representing the cascading control actions.

[0051] Figure 12 This is a flowchart illustrating the clamping action.

[0052] Figure 13 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0053] Figure 14 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0054] Figure 15 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0055] Figure 16 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0056] Figure 17 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0057] Figure 18 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0058] Figure 19 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0059] Figure 20 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0060] Figure 21 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0061] Figure 22 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0062] Figure 23 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0063] Figure 24 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0064] Figure 25 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0065] Figure 26 This is a schematic side view showing the relationship between the tire and the optical axis of the sensor in the second embodiment.

[0066] Figure 27 This is a flowchart illustrating the clamping action in the third embodiment. Detailed Implementation

[0067] 1. First Implementation Method

[0068] (1) Overall handling system

[0069] use Figure 1 The transport system 1 of the first embodiment will be described. Figure 1 This is a schematic top view of the transport system according to the first embodiment.

[0070] The handling system 1 has the following functions: handling tires T one by one (an example of goods), then stacking multiple tires T, and further handling the stacked tires T.

[0071] (2) Conveying device

[0072] The handling system 1 has a conveying device 3. The conveying device 3 is a device for handling tires T. The tires T being handled come in several different sizes.

[0073] The conveying device 3 mainly comprises a first conveyor 5, a second conveyor 7, and a converter 9. The converter 9 is located between the first conveyor 5 and the second conveyor 7. The tire T is transported in the order of the second conveyor 7, the converter 9, and the first conveyor 5.

[0074] The first conveyor 5 and the second conveyor 7 are orthogonal. The converter 9 changes the transport direction of the tire T from the second conveyor 7 to the first conveyor 5.

[0075] The first conveyor 5 and the second conveyor 7 are known technologies, such as roller conveyors, and have a conveying surface 5a for transporting the tire T. The converter 9 is a known technology, such as consisting of a roller conveyor and a chain conveyor capable of moving up and down between them. Furthermore, components of each device are appropriately omitted for the sake of simplifying the drawings.

[0076] Furthermore, the extension direction of the first conveyor 5 will be referred to as the first direction (arrow Y) and the extension direction of the second conveyor 7 will be referred to as the second direction (arrow X).

[0077] (3) Centered stacking device

[0078] The handling system 1 includes a centering and stacking device 11. The centering and stacking device 11 is a device that stacks tires T while simultaneously centering them. Subsequently, a robotic arm (not shown) or similar device is used to directly insert the stacked tires T into a rack (not shown). However, if the tires T are not properly centered, they may tilt and collapse when the robotic arm holds multiple tires T. Therefore, proper centering is necessary. The purpose of the centering and stacking device 11 is to eliminate this problem (described later).

[0079] (3-1) First positioning device

[0080] The centering stacking device 11 has a first positioning device 13. The first positioning device 13 is a device that determines the end of the tire T transported by the first conveyor 5 at a first predetermined position in a first direction.

[0081] The first positioning device 13 has a first limiter 15. The first limiter 15 is disposed on the first conveyor 5. The first limiter 15 protrudes above the transport surface 5a (an example of the mounting portion) of the first conveyor 5 and is capable of abutting against the tire T transported by the first conveyor 5 in a first direction. The first limiter 15 extends in a second direction.

[0082] use Figure 2 as well as Figure 3 The first positioning device 13 will be described in detail. Figure 2 as well as Figure 3 This is a schematic side view of the first positioning device.

[0083] The first positioning device 13 has the following features: it enables the first limiter 15 to be in the abutment position ( Figure 2 ) and retreat position ( Figure 3 The first limiter drive unit 17 moves between the tire T and the contact position, which protrudes upward from the transport surface 5a. The retraction position is located below the transport surface 5a, diagonally downward from the contact position in the downstream direction. The first limiter drive unit 17 is, for example, a cylinder.

[0084] In this conveying system 1, after the tire T comes into contact with the tire, the first limiter 15 moves from the contact position to the retraction position. At this time, the retraction position is located away from the tire T in the first direction compared to the contact position, so the load is not easily transferred from the first limiter 15 to the tire T. Therefore, the position and orientation of the tire T are not easily changed. Furthermore, if the rotation and wear of the tire T are not considered, the first limiter can also simply move out and back up and down.

[0085] (3-2) Second positioning device

[0086] The centering stacking device 11 has a second positioning device 23. The second positioning device 23 is a device that determines the end of the tire T in the second direction at a second predetermined position.

[0087] The second positioning device 23 has a second limiter 25. The second limiter 25 is located on one side in the second direction within the converter 9. Figure 1 (the lower side). The second limiter 25 can protrude above the conveying surface 9a of the converter 9 and abut against one side of the tire T.

[0088] The second positioning device 23 has a drive unit 77 that moves the second limiter 25 between the contact position and the retraction position. Figure 10 The aforementioned contact position protrudes upward from the transport surface 5a, and the aforementioned retraction position moves away from the tire T in a second direction compared to the contact position. The drive unit 77 may be the same as the first limiter drive unit 17 of the first positioning device 13, or it may be a structure that causes the second limiter 25 to retract laterally. Furthermore, the second limiter 25 may not retract if rotation of the tire T is not taken into consideration.

[0089] The converter 9 is located upstream of the first positioning device 13 in the transport direction, causing the tire T to move towards one side in the second direction. Figure 1 (and the side of the second limiter 25). Thus, the tire T is positioned in the second direction by abutting against the second limiter 25.

[0090] Subsequently, the second limiter 25 moves from the contact position to the retraction position. At this time, the contact position is located away from the tire T in the second direction compared to the retraction position. Therefore, the load is not easily transferred from the second limiter 25 to the tire T. Thus, the position and orientation of the tire T are not easily changed.

[0091] Furthermore, tire T is subsequently moved along the first conveyor 5 in the first direction toward the first positioning device 13. At this time, on the second direction depth side of the first conveyor 5 ( Figure 1 Since there are no guides on the lower side, the tire T is transported in a manner that maintains its position in the second direction without changing its orientation.

[0092] Furthermore, the tire T is positioned in the first direction at the stacking position 61 by the first limiter 15. The stacking position 61 refers to the position occupied by the tire T when it stops on the upstream side of the transport direction of the first limiter 15. Based on the above, the tire T stops at the stacking position 61 on the first conveyor 5 by the first limiter 15 while being positioned in the first and second directions respectively.

[0093] (3-3) Stacking device

[0094] use Figure 4 as well as Figure 5 The stacking device will be described. Figure 4 It is a schematic three-dimensional diagram of a stacked device. Figure 5 This is a schematic front view of the stacked device.

[0095] The centering and stacking device 11 has a stacking device 31 (an example of a clamping device). The stacking device 31 is a device for stacking the tire T after it has been centered.

[0096] The stacking device 31 has a pair of columns 31a and a canopy portion 31b connecting the columns 31a to each other at the top. The pair of columns 31a are located on both sides of the first conveyor 5 and are configured to sandwich the first conveyor 5 at a stacking position 61.

[0097] The stacking device 31 has a first clamping portion 33a and a second clamping portion 33b. The first clamping portion 33a and the second clamping portion 33b are components for clamping the sides of one or more tires T. The first clamping portion 33a and the second clamping portion 33b have a predetermined length in the vertical direction and, when viewed from above, have arc-shaped abutment surfaces 33a1 and 33b1 (an example of a bent portion). The first clamping portion 33a and the second clamping portion 33b can, for example, simultaneously clamp and hold one tire T or 2 to 10 stacked tires T. Furthermore, in the second direction, the first clamping portion 33a is located on the same side as the second positioning device 23. Moreover, since the abutment surfaces 33a1 and 33b1 are bent portions, the first clamping portion 33a and the second clamping portion 33b can abut along the side of the tire T.

[0098] like Figure 5 As shown, the stacking device 31 includes a first horizontal drive device 34a and a second horizontal drive device 34b for moving the first clamping part 33a and the second clamping part 33b in a horizontal direction. The first horizontal drive device 34a and the second horizontal drive device 34b each include: a first carriage 35a and a second carriage 35b; a first chain 36a and a second chain 36b for driving the first carriage 35a and the second carriage 35b in a horizontal direction; a first sprocket 37a and a second sprocket 37b; a third sprocket 38a and a fourth sprocket 38b; and a first clamping motor 39a and a second clamping motor 39b.

[0099] The stacking device 31 includes a first lifting device 41a and a second lifting device 41b. The first lifting device 41a and the second lifting device 41b are a pair of devices that lift the first clamping part 33a and the second clamping part 33b respectively. The first lifting device 41a and the second lifting device 41b are disposed below the first horizontal direction drive device 34a and the second horizontal direction drive device 34b respectively.

[0100] The first lifting device 41a includes: a first lower sprocket 42a disposed below in the vertical direction; a first upper sprocket 43a disposed above in the vertical direction; and a first chain 44a connecting the first lower sprocket 42a and the first upper sprocket 43a. A first clamping part 33a is fixed to the first chain 44a. The first lifting device 41a also includes a first lifting motor 45a, which drives the first upper sprocket 43a to move the first clamping part 33a between an upper position and a lower position. The first lifting device 41a also includes a first guide part 46a, which guides the first clamping part 33a in the vertical direction.

[0101] The second lifting device 41b includes: a second lower sprocket 42b disposed below in the vertical direction; a second upper sprocket 43b disposed above in the vertical direction; and a second chain 44b connecting the second lower sprocket 42b and the second upper sprocket 43b. A second clamping portion 33b is fixed to the second chain 44b. The second lifting device 41b also includes a second lifting motor 45b, which drives the second upper sprocket 43b and moves the second clamping portion 33b between an upper position and a lower position. The second lifting device 41b also includes a second guide portion 46b, which guides the second clamping portion 33b in the vertical direction.

[0102] Furthermore, the "above position of the first clamping part 33a and the second clamping part 33b" mentioned above refers to the height at which the lower ends of the first clamping part 33a and the second clamping part 33b do not interfere with each other by a distance of one tire T. The above position could be, for example, a position above the height of the largest tire T, or a position above the type of tire T.

[0103] Furthermore, the aforementioned "lower position of the first clamping part 33a and the second clamping part 33b" refers to the height at which the first clamping part 33a and the second clamping part 33b do not interfere with the first conveyor 5 when the first clamping part 33a and the second clamping part 33b hold the tire T on the first conveyor 5.

[0104] like Figure 5 As shown, the first clamping part 33a and the second clamping part 33b are configured such that their lower ends are lower than the first lower sprocket 42a and the second lower sprocket 42b. Therefore, the lowermost tire T in the multi-layer tire T can also be clamped by the first clamping part 33a and the second clamping part 33b.

[0105] like Figure 5 As shown, the first lower sprocket 42a and the second lower sprocket 42b are positioned higher than the upper surface of the highest tire T. Therefore, in this embodiment, the first lower sprocket 42a and the second lower sprocket 42b are positioned above the first conveyor 5, but they do not obstruct the transport of the tire T.

[0106] The stacked device 31 has a first sensor 73a and a second sensor 73b (an example of a sensor). Figure 6 , Figure 10 The first sensor 73a and the second sensor 73b are sensors that detect the tire T at a predetermined distance from the contact surfaces 33a1 and 33b1 of the first clamping part 33a and the second clamping part 33b, respectively.

[0107] The first sensor 73a and the second sensor 73b are light-transmitting sensors, each consisting of a projector and a receiver disposed at the left and right ends of the contact surfaces 33a1 and 33b1 of the first clamping part 33a and the second clamping part 33b, respectively. Furthermore, holes (not shown) are provided on the contact surfaces 33a1 and 33b1 for the optical axes of the first sensor 73a and the second sensor 73b to pass through.

[0108] Furthermore, the optical axes of the first sensor 73a and the second sensor 73b are orthogonal to the moving directions of the first clamping part 33a and the second clamping part 33b. When viewed from above, the end sides of the arc of the first clamping part 33a are connected to each other, and the end sides of the arc of the second clamping part 33b are connected to each other. However, the optical axis intersects the arc at two points when viewed from above, thus becoming along the direction of the tire T. Therefore, it can, for example, be parallel to and offset from the aforementioned line.

[0109] Furthermore, in this embodiment, the optical axis extends in the horizontal direction.

[0110] The stacking device 31 includes: a tire height sensor 74 for measuring the height of the tire T. Figure 10 The tire height sensor 74 consists of multiple light-transmitting or light-reflecting sensors arranged along the height direction. Furthermore, the type of sensor is not particularly limited; it can also be a distance measuring sensor positioned above the tire T. The sensor's position is also not particularly limited. Additionally, the tire height information can be obtained from tire information received from a higher-level controller (not shown).

[0111] The controller 71 controls the driving amount of the first lifting motor 45a and the second lifting motor 45b based on the height of the tire T. Therefore, the lifting amount of the first clamping part 33a and the second clamping part 33b can be minimized, thus increasing the operating efficiency.

[0112] The lamination device 31 includes a tire arrival sensor 75 that detects when the tire T reaches the lamination position 61. Figure 10 The tire arrival sensor 75 is a light-transmitting or light-reflecting sensor installed on both sides of the first conveyor 5. Furthermore, the type of sensor is not particularly limited; it could also be a touch sensor installed on the first limiter 15 to detect contact with the tire T.

[0113] (3-4) Tire clamping action performed by the first clamping part and the second clamping part

[0114] use Figure 6 The clamping action of the tire T performed by the first clamping part 33a and the second clamping part 33b of the stacking device 31 will be described. Figure 6This is a schematic partial top view illustrating the clamping action of the stacking device.

[0115] Figure 6 The diagram shows various types of tires T1 to T5. Each tire T has: a first portion t1, which, after abutting against the first limiter 15 of the first positioning device 13, is positioned at the end determined by the first positioning device 13, and a second portion t2, which is positioned at the end determined by the second positioning device 23. The first directional position of the first portion t1 is determined by the first limiter 15. The second directional position of the second portion t2 is determined first by the second limiter 25 of the second positioning device 23. Specifically, in this embodiment, it is assumed that the tire T does not rotate in the first conveyor 5. In this case, the portion of the tire T that abuts against the second limiter 25 remains unchanged, becoming the second portion t2 in the stacked position 61. Furthermore, Figure 6 The image shows only the first part t1 and the second part t2 of tire T5.

[0116] use Figures 7-9 Let's take tire T1 as an example for illustration. Figures 7-9 This is a schematic partial top view illustrating the clamping action of the stacking device. Furthermore, tire T1 is the smallest tire (in other words, the shortest outer diameter).

[0117] The first clamping part 33a and the second clamping part 33b clamp the side of tire T1 by passing between the first tire portion t1 and the second tire portion t2. Specifically, the first clamping part 33a and the second clamping part 33b clamp at an angle relative to a first direction, midway along the straight line P connecting the first tire portion t1 and the second tire portion t2. More specifically, the first clamping part 33a and the second clamping part 33b clamp in a third direction (the extension direction of the straight line Q, the clamping direction) orthogonal to the straight line P in the horizontal direction. Even more specifically, the first clamping part 33a and the second clamping part 33b pass between the first tire portion t1 and the second tire portion t2 (specifically, between the first tire portion t1 and the second tire portion t2 on the straight line P) and clamp tire T1 in a direction inclined at 45 degrees relative to the first direction. With the clamping direction center aligned with the center of tire T1, the first clamping part 33a and the second clamping part 33b can accurately clamp tires T with different outer diameters. Furthermore, this allows the first positioning device 13 and the stacking device 31 to have a compact structure.

[0118] In this embodiment, regardless of the type of tire T, the clamping direction center is aligned with the center of tire T. This is because tire T is circular, and therefore, the center can be determined by performing two-point positioning.

[0119] Next, the tire clamping action will be explained.

[0120] First, such as Figure 7 As shown, tire T1 is positioned by the first limiter 15.

[0121] Next, as Figure 8 As shown, the first clamping part 33a and the second clamping part 33b move towards a first position close to the side of the tire T1. Reaching the first position is determined by detection signals from the first sensor 73a and the second sensor 73b. Thus, before the first clamping part 33a and the second clamping part 33b come into contact with the tire T1, it can be detected that the tire T1 is buckling due to the first clamping part 33a and the second clamping part 33b, on which the first sensor 73a and the second sensor 73b are located.

[0122] Finally, as Figure 9 As shown, the first clamping part 33a and the second clamping part 33b move to a second position close to the side of the tire T1, thereby clamping the tire T1. Here, the clamping of the tire T1 by the first clamping part 33a and the second clamping part 33b is confirmed by detection signals from the first sensor 73a and the second sensor 73b.

[0123] In this stacking device 31, the contact surfaces 33a1 and 33b1 of the first clamping part 33a and the second clamping part 33b have an arc shape when viewed from above, so the tire T can be detected non-contactly before clamping. Therefore, even if the diameters of the clamped tires T are different, they can be detected correctly.

[0124] In this stacking device 31, the first sensor 73a and the second sensor 73b are non-contact, thus reducing the number of components in the tire detection unit.

[0125] (4) Control structure of the stacking device

[0126] use Figure 10 The control structure of the stacking device 31 will be explained. Figure 10 This is a block diagram representing the control structure of a stacked device.

[0127] The stacked device 31 includes a controller 71 (an example of a controller). The controller 71 is a computer system having a processor (e.g., CPU), storage devices (e.g., ROM, RAM, HDD, SSD, etc.), and various interfaces (e.g., A / D converter, D / A converter, communication interface, etc.). The controller 71 performs various control actions by executing programs stored in the storage unit (corresponding to part or all of the storage area of ​​the storage device).

[0128] The controller 71 can be composed of a single processor, or it can be composed of multiple processors that are independent for each control.

[0129] Some or all of the functions of the various elements of controller 71 can also be implemented as programs that can be executed by the computer system constituting controller 71. In addition, some of the functions of the various elements of controller 71 can also be constituted by custom ICs.

[0130] The controller 71 is connected to a first limit switch drive unit 17, a first lifting motor 45a, a second lifting motor 45b, a first clamping motor 39a, a second clamping motor 39b, a first sensor 73a, a second sensor 73b, a tire height sensor 74, and a tire arrival sensor 75.

[0131] Although not shown in the figure, the controller 71 is connected to sensors for detecting the size, shape, and position of the tire T, sensors for detecting the status of each device, as well as switches and information input devices.

[0132] (5) Stacked control actions

[0133] use Figures 11-25 This section explains the layering control actions. Figure 11 This is a flowchart representing the cascading control actions. Figure 12 This is a flowchart illustrating the clamping action. Figures 13-25 This is a schematic diagram illustrating one state of the action of a pair of clamping parts in a stacking motion.

[0134] The control flow diagram described below is illustrative; steps can be omitted or replaced as needed. Alternatively, multiple steps can be executed simultaneously, or some or all steps can overlap.

[0135] Furthermore, each step in the control flowchart is not limited to a single control action, but can be replaced by multiple control actions manifested in multiple steps.

[0136] Furthermore, the actions of each device are the result of instructions from the controller 71 to each device, which are manifested through the steps of the software / application.

[0137] In the series of actions described below for stacking control, tires T of the same size (type) are stacked. After the series of actions is completed, tires of different sizes (types) are stacked. However, it is not necessary to change the size (type) for each action in the series.

[0138] In addition, prior to the following actions, the tire T is positioned in the second direction by the second positioning device 23.

[0139] exist Figure 11In step S1, the first limiter 15 moves to the abutment position. Specifically, the controller 71 controls the first limiter drive unit 17 to perform the above-mentioned action.

[0140] In step S2, the system waits for tire T to reach the stacking position 61. The controller 71 determines the arrival of tire T based on the detection signal from the tire arrival sensor 75. If... Figures 13-14 Once the tire T shown arrives, the process proceeds to step S3.

[0141] In step S3, the first limiter 15 moves to the retracted position. Specifically, the controller 71 controls the first limiter drive unit 17 to perform the above-mentioned action.

[0142] In step S4, the clamping action of the first clamping part 33a and the second clamping part 33b clamping the tire T is performed.

[0143] use Figure 12 The operation of the first clamping part 33a will be explained (the same applies to the second clamping part 33b).

[0144] In step S101, the first clamping part 33a moves toward the tire T side.

[0145] In step S102, it is determined whether the first sensor 73a detects tire T. If it is detected (if a detection signal is received from the first sensor 73a), the process proceeds to step S103; if it is not detected, the process returns to step S101.

[0146] In step S103, if Figure 15 As shown, the first clamping part 33a stops at a first position near the side of the tire T (in other words, not clamped). Furthermore, as a condition for transitioning from step S103 to step S104, the state of the second clamping part 33b is also checked to prevent pressing the tire T during clamping.

[0147] In step S104, the first clamping part 33a moves further toward the tire T side. As a result, as Figure 16 As shown, the first clamping part 33a moves to the second position where it abuts against the side of the tire T.

[0148] In step S105, it is determined whether the torque value of the first clamping motor 39a reaches a predetermined value. If the predetermined value is reached, the process proceeds to step S106; otherwise, the process returns to step S104. In step S106, the movement of the first clamping part 33a stops.

[0149] exist Figure 11In step S5, the system waits for the clamping action to end. The controller 71 determines the end of the clamping action, for example, based on the torque of the first clamping motor 39a and the second clamping motor 39b.

[0150] In step S6, as Figure 17 As shown, the first clamping part 33a and the second clamping part 33b rise to lift the tire T. Specifically, the controller 71 controls the first lifting motor 45a and the second lifting motor 45b to perform the above-mentioned action.

[0151] In step S7, the first limiter 15 moves to the contact position.

[0152] In step S8, the system waits for the next tire T to arrive at the stacking position 61. The controller 71 determines the arrival of tire T based on the detection signal from the tire arrival sensor 75. Figure 18 As shown, if the next tire T arrives, the process proceeds to step S9.

[0153] In step S9, the first limiter 15 moves to the retracted position.

[0154] In step S10, as Figure 19 As shown, the first clamping part 33a and the second clamping part 33b descend, thereby dropping and stacking the held tire T on top of the tire T below. Specifically, the controller 71 controls the first lifting motor 45a and the second lifting motor 45b to perform the above operation. At this time, each tire T has been positioned at two points by the first positioning device 13 and the second positioning device 23, and therefore is correctly centered relative to each other during stacking.

[0155] In step S11, as Figure 20 As shown, the first clamping part 33a and the second clamping part 33b move laterally away from the tire T, thereby releasing the clamp. Specifically, the controller 71 controls the first clamping motor 39a and the second clamping motor 39b to perform the above-mentioned action. The amount of movement of the first clamping part 33a and the second clamping part 33b can also be controlled by a timer. Furthermore, the first clamping part 33a and the second clamping part 33b can be separated by the same distance or different distances.

[0156] In step S12, it is determined whether the stacking action has ended. If it has ended, the process ends; otherwise, the process returns to step S4.

[0157] After the process is completed, the first conveyor 5 will transport the stacked tires T downstream in the transport direction.

[0158] Steps S4 to S11 are repeated a predetermined number of times. For example, in step S4, such as... Figures 21-23As shown, the clamping action of tire T is performed. Furthermore, in subsequent clamping actions, the detection signals from the first sensor 73a and the second sensor 73b are used only to confirm the presence of tire T (described later). In step S6, as... Figure 24 As shown, the action of lifting tire T is performed. In step S8, as... Figure 25 As shown, we now await the arrival of the next tire, T. Further details are omitted below.

[0159] In this transport system 1, the position of tire T in the first direction is determined by the first positioning device 13, and the position in the second direction is determined by the second positioning device 23. Tire T is also clamped between the first part t1 and the second part t2 of tire T by the first clamping part 33a and the second clamping part 33b. In this way, even tires T with different outer diameters are correctly clamped.

[0160] Alternatively, for the second or subsequent tire T, the controller 71 moves the first clamping part 33a and the second clamping part 33b to a second position without stopping at the first position to clamp the tire T. This is because, for example, for a tire T initially inserted when there is no space between the first clamping part 33a and the second clamping part 33b, the first clamping part 33a and the second clamping part 33b are moved to the first position in a close manner and stop at the first position. Therefore, this position and the clamping position can be stored, and the amount of movement up to the second position can be determined. Furthermore, after the first clamping part 33a and the second clamping part 33b stop at the second position relative to the second or subsequent tire T, the controller 71 confirms that the tire T is clamped by the first sensor 73a and the second sensor 73b.

[0161] In this device, the second and subsequent tires T are not stopped at the first position, thus shortening the cycle time.

[0162] As described above, the first sensor 73a and the second sensor 73b are used for the first tire T1 to stop the first clamping part 33a and the second clamping part 33b in the first position, and for the second and subsequent tires T to confirm that the first clamping part 33a and the second clamping part 33b are clamping the tire T in the second position.

[0163] The above controls can be used in stacking and disassembly. In the case of stacking, the first tire T to be loaded is the first cargo, and the second and subsequent tire Ts loaded are the second cargo.

[0164] In the case of disassembly, the bottommost tire T in the stacked tires T is the first cargo, and the second tire and subsequent tires from the bottom in the stacked tires T are the second cargo.

[0165] The actions after the tire T is stacked are explained.

[0166] After stacking, the stacked tires T are transported in a concentrated manner by a conveying device, for example, supporting the inner diameter or the lower side of the tire T.

[0167] The stacked tires T are positioned to one side in the second direction, but the center of the tires is matched with the transfer position by means of the same structure as the conveyor for adjusting in the second direction.

[0168] Based on the above, the transport device can support the tire T at a predetermined position.

[0169] 2. Second Implementation Method

[0170] In the first embodiment, the optical axes of the first sensor and the second sensor are horizontal, but they can also be tilted vertically.

[0171] use Figure 26 The following embodiment will be described as the second implementation. Figure 26 This is a schematic side view showing the relationship between the tire and the optical axis of the sensor in the second embodiment. Furthermore, the basic structure and basic operation are the same as in the first embodiment; therefore, the following description focuses on the differences. Additionally, the first sensor 73a and the second sensor 73b have the same structure; therefore, only the first sensor 73a will be described.

[0172] The first sensor 73a is a sensor that detects the tire T at a predetermined distance from the contact surface of the first clamping part 33a and the second clamping part 33b.

[0173] The optical axis 76 of the first sensor 73a is set to be tilted upwards relative to the horizontal direction. In this embodiment, the projector 73a1 is disposed on the upper side, and the receiver 73a2 is disposed on the lower side. However, the two can also be reversed.

[0174] Furthermore, the tilt angle of the optical axis 76 is, for example, about 5 degrees. If it is such an angle, it prevents transmission within the groove 81 (described later) of the tire T, in other words, it can reliably detect the maximum outer surface of the tire T.

[0175] Figure 26 The tire T shown has multiple grooves 81 extending in the circumferential direction. In this case, as described above, the optical axis 76 of the first sensor 73a is tilted, therefore, it is less likely that the optical axis 76 will enter the groove 81. As a result, the tire T can be detected accurately. Specifically, as Figure 26 As shown, the detection portion 83 at the apex of the clamping direction of the tire T is detected by the sensor. In this embodiment, portions 85 and 87 within and on both sides of the detection portion 83 are detected.

[0176] In the case of a tire T with horizontally oriented grooves, if the optical axis is horizontal, it will be located within the groove in the detection section, causing a detection delay for the tire T. This could lead to incorrect position detection. However, in this embodiment, such a detection delay can be prevented.

[0177] 3. Third Implementation Method

[0178] In the first embodiment, the controller confirms the detection of the sensor-based tire T from the moment the pair of clamping parts stop at the first position. However, the controller may also confirm the detection of the sensor-based tire T without stopping the pair of clamping parts at the first position. In this case, if the detection of the tire T cannot be confirmed, the pair of clamping parts are stopped after passing the first position.

[0179] use Figure 27 Such an embodiment will be described as the third embodiment. Figure 27 This is a flowchart illustrating the clamping action in the third embodiment.

[0180] The operation of the first clamping part 33a will be explained below (the same applies to the second clamping part 33b).

[0181] In step S101, the first clamping part 33a moves toward the tire T side.

[0182] In step S102, it is determined whether the first sensor 73a detects tire T. If detected, the process proceeds to step S105; otherwise, the process proceeds to step S107. Furthermore, as a condition for transitioning from step S102 to step S105, the state of the second clamping part 33b is also checked to prevent pressing on tire T during clamping. As a result, the first clamping part 33a moves to a second position abutting against the side of tire T.

[0183] In step S105, it is determined whether the torque value of the first clamping motor 39a reaches the specified value. If the specified value is reached, the process proceeds to step S106; otherwise, step S105 is executed again.

[0184] In step S106, the movement of the first clamping part 33a stops. In step S107, it is determined whether the movement of the first clamping part 33a exceeds a predetermined distance. If it exceeds the predetermined distance, the process proceeds to step S108; if it does not exceed the predetermined distance, the process returns to step S101. In step S108, the first clamping part 33a stops moving, and further abnormal handling is performed.

[0185] Furthermore, if neither the first clamping part 33a nor the second clamping part 33b is detected, the operation of both parts ceases.

[0186] Furthermore, the aforementioned "predetermined distance" is determined, for example, per tire T. More specifically, the "predetermined distance" is set such that the separation distance between the first clamping part 33a and the second clamping part 33b is the same as or smaller than the width of the tire T that can be detected non-contactly, or the same as or smaller than the diameter of the tire T.

[0187] 4. Common aspects of implementation methods

[0188] The following items are common to the first to third embodiments.

[0189] The clamping device (e.g., the stacking device 31) includes a mounting part, a pair of clamping parts, a sensor, and a controller.

[0190] The loading section (e.g., the conveying surface 5a) loads round goods (e.g., tires T).

[0191] A pair of clamping parts (e.g., first clamping part 33a and second clamping part 33b) clamp the side of the goods placed on the mounting part and have a contact surface (e.g., contact surface 33a1, 33b1) that includes a bent portion and is able to abut against the side of the goods.

[0192] The sensors (e.g., the first sensor 73a and the second sensor 73b) have optical axes that traverse the buckling and are along the direction of the cargo.

[0193] The controller (e.g., controller 50) moves a pair of grippers in a proximity manner to a first position where they are not gripping the goods (e.g., Figure 8 If the sensor detects cargo, the pair of gripping parts move closer to each other to a second position holding the cargo (e.g., Figure 9 ).

[0194] As described above, the pair of clamping parts have bent portions, and the goods are round, thus allowing for non-contact inspection of the goods before clamping. Therefore, even if the diameters of the clamped goods are different, accurate inspection can be performed.

[0195] As mentioned above, the sensor is non-contact, thus reducing the number of components in the tire detection unit.

[0196] 5. Other implementation methods

[0197] The foregoing has described several embodiments of the present invention, but the present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit of the invention. In particular, the various embodiments and variations described in this specification can be arbitrarily combined as needed.

[0198] (1) Examples of variations in the shapes of the first clamping part and the second clamping part

[0199] Alternatively, when viewed from above, the contact surfaces of the first clamping part and the second clamping part can be V-shaped.

[0200] (2) Variations of the movement of the first clamping part and the second clamping part

[0201] In the first embodiment, the controller moves a pair of clamping parts toward the tire simultaneously. However, the controller may also move the pair of clamping parts at different times. For example, the tire can be clamped by first having one clamping part come into contact with the tire, and then having the other clamping part come into contact with the tire.

[0202] (3) Modification of the clamping device

[0203] Clamping devices can also be used in devices other than stacking devices.

[0204] This invention can be used not only for stacking but also for disassembly. For example, it can be positioned and disassembled in the same way as for stacking.

[0205] (4) Examples of variations of goods

[0206] Round goods are not limited to tires.

[0207] Industrial availability

[0208] This invention can be widely applied to clamping devices for holding round goods.

[0209] Explanation of reference numerals in the attached figures

[0210] 1...Transportation system; 3...Conveying device; 5...First conveyor; 5a...Transporting surface; 7...Second conveyor; 9...Converter; 11...Centering stacking device; 13...First positioning device; 15...First limiter; 17...First limiter drive unit; 23...Second positioning device; 25...Second limiter; 31...Stacking device; 31a...Column; 31b...Canopy; 33a...First clamping unit; 33b...Second clamping unit; 34a...First horizontal drive unit; 34b...Second horizontal drive unit; 35a...First trolley; 35b...Second trolley; 36a...First chain; 36b...Second chain; 37a...First sprocket; 37b...Second sprocket; 3 8a...3rd sprocket; 38b...4th sprocket; 39a...1st clamping motor; 39b...2nd clamping motor; 41a...1st lifting device; 41b...2nd lifting device; 42a...1st lower sprocket; 42b...2nd lower sprocket; 43a...1st upper sprocket; 43b...2nd upper sprocket; 44a...1st chain; 44b...2nd chain; 45a...1st lifting motor; 45b...2nd lifting motor; 46a...1st guide; 46b...2nd guide; 61...stack position; 71...controller; 73a...1st sensor; 73b...2nd sensor; 74...tire height sensor; 75...tire arrival sensor; 77...drive unit; T...tire.

Claims

1. A clamping device, characterized in that, have: A loading section for holding circular goods; A pair of clamping portions clamp the side of the cargo placed on the placement portion and have a contact surface including a bent portion and capable of abutting against the side of the cargo; A sensor having an optical axis that traverses the buckled portion in a manner that connects the end side of at least one of the clamping portions to the end side when viewed from above, and extends in a direction along the side of the cargo. as well as The controller moves the pair of clamping parts to a first position where the goods are not clamped but are detected by the sensor; upon receiving a detection signal from the sensor, it then moves the clamping parts to a second position where the goods are clamped. The controller, for a first item being moved in and clamped when there is no space between the pair of clamping parts, moves the pair of clamping parts towards a first position and stops at the first position. If the first item is detected by the sensor, the controller moves the pair of clamping parts towards each other to a second position to clamp the first item. For the second item subsequently clamped, the controller causes the pair of clamping parts to move from the first position to the second position to clamp the second item, instead of stopping at the first position. After the pair of clamping parts stop at the second position relative to the second cargo, the controller confirms that the second cargo is clamped by the sensor.

2. The clamping device according to claim 1, characterized in that, When viewed from above, the contact surface is arc-shaped. The sensor is configured such that the optical axis intersects the arc at two points.

3. The clamping device according to claim 2, characterized in that, The optical axis is orthogonal to the direction of movement of the pair of clamping parts. When viewed from above, the optical axis connects the end side of the arc of the first clamping part to the end side and connects the end side of the arc of the second clamping part to the end side.

4. The clamping device according to claim 1, characterized in that, The cargo is a tire with sides having grooves extending in a horizontal direction. The sensor is configured such that the optical axis is tilted upwards relative to the horizontal direction.

5. The clamping device according to claim 1, characterized in that, If the sensor detects the cargo, the controller stops the movement of the clamping part equipped with the sensor in the pair of clamping parts.

6. The clamping device according to claim 1, characterized in that, For the controller mentioned above Even if the sensor detects the cargo, the movement of the clamping part equipped with the sensor in the pair of clamping parts continues. If the movement distance of one of the pair of clamping parts exceeds a predetermined distance and the cargo is not detected by the sensor, the movement of that clamping part is stopped and an abnormality is handled.

7. The clamping device according to claim 2, characterized in that, The cargo is a tire with sides having grooves extending in a horizontal direction. The sensor is configured such that the optical axis is tilted upwards relative to the horizontal direction.

8. The clamping device according to claim 2, characterized in that, If the sensor detects the cargo, the controller stops the movement of the clamping part equipped with the sensor in the pair of clamping parts.

9. The clamping device according to claim 2, characterized in that, For the controller mentioned above Even if the sensor detects the cargo, the movement of the clamping part equipped with the sensor in the pair of clamping parts continues. If the movement distance of one of the pair of clamping parts exceeds a predetermined distance and the cargo is not detected by the sensor, the movement of that clamping part is stopped and an abnormality is handled.

10. A stacking device, characterized in that, have: The clamping device according to claim 1; and A driving device that drives the pair of clamping parts in the horizontal and vertical directions.

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