Tire conveying device

Abstract

In a tire conveyance device (1), three arms (23) have hook portions (25) protruding outward at lower end portions. An arm expansion / contraction device (77) moves the arms (23) in a horizontal expansion / contraction direction. A Z-axis drive device (75) raises and lowers the arms (23). First to third laser distance sensors (31A to 31C) are disposed outside a first circle (C1) including the tips of the hook portions (25) when the arms (23) are positioned above a tire (T) and are in a contracted state. If the tire (T) is detected by at least one of the laser distance sensors (31A to 31C), a controller (51) determines that the position of the arms (23) is inappropriate.

Description

TECHNICAL FIELD

[0001] The present application relates to a tire conveying device, and particularly to a device that lifts a tire by inserting a plurality of arms into an upper surface opening edge of a central hole of a tire in a horizontal posture from above and supporting the upper surface opening edge from below with a hook portion of the arm. BACKGROUND

[0002] The tire conveying device has a plurality of arms each having a hook portion formed at a top end, an arm expansion / contraction mechanism that moves the arms in a horizontal expansion / contraction direction, and a lifting mechanism that lifts the arms and the arm expansion / contraction mechanism.

[0003] The tire conveying device lowers the plurality of arms from above an upper surface opening of a central hole of a tire in a horizontal posture and inserts the arms into the upper surface opening, then moves the arms in an expansion direction, thereby moving the hook portions below the upper surface opening edge. The tire conveying device finally moves the arms upward to support the upper surface opening edge of the tire from below with the hook portions, thereby lifting the tire.

[0004] For example, an article conveying device that conveys an article by inserting four arms into an inner diameter of a tire is known (see, for example, Patent Literature 1).

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent Application Laid-Open No. 2008-162733 SUMMARY

[0008] Tires are generally stored in a stacked state. Also, the stacked tires are sometimes inclined as time passes due to deformation. The reason is that tires are soft and have adhesiveness.

[0009] On the other hand, the tire conveying device performs stop control at a determined coordinate. Thus, if the stacked tire is inclined as described above, the hook portions can sometimes hit the inclined tire when the arms are lowered. In this case, not only the tire cannot be conveyed any more, but also there is a possibility that the tire is damaged.

[0010] An object of the present application is to make it difficult for the arms to damage the tire when the tire conveying device holds the tire.

[0011] Hereinafter, a plurality of modes are described as solutions to the problem. These modes can be arbitrarily combined as needed.

[0012] A tire conveying device according to one aspect of the present application is a device that lifts and conveys a tire, and includes at least three arms, an arm expansion / contraction mechanism, a lifting mechanism, at least three light reflection sensors, and a controller.

[0013] At least three arms have an arm body and a protrusion provided at a lower portion of the arm body in a manner protruding to the outside, for lifting the tire.

[0014] The arm expansion / contraction mechanism moves the arms in a horizontal expansion / contraction direction.

[0015] The lifting mechanism lifts and lowers the arms.

[0016] At least three light reflection sensors are arranged outside a circle including the top end of the protrusion when the arms are positioned above the tire and in a contracted state, and detect an object positioned below. Further, the light reflection sensor is a sensor capable of detecting reflection of light irradiated downward. In addition, the below refers to a region vertically directly below the light reflection sensor, or a region including the vertically directly below and the vicinity thereof. As described later, the light reflection sensor can also be a distance sensor that detects a distance to an object positioned below. The light reflection sensor can also not be a distance sensor, but a sensor that simply detects the presence or absence of an object positioned below.

[0017] If the tire is detected by at least one of the light reflection sensors, the controller determines that the position of the arms is inappropriate.

[0018] In this apparatus, as a basic conveying operation, the lifting mechanism lowers the arms and arranges the arms inside the tire, then the arm expansion / contraction mechanism expands the arm bodies of the three arms to the outside in the horizontal direction, and finally the lifting mechanism lifts the arms to lift the tire by the protrusions of the arms.

[0019] In this apparatus, if the tire is detected by the light reflection sensor, the tire is arranged at a position overlapping the protrusion when viewed from above. In this case, for example, the lifting mechanism does not lower the arms, and therefore, even if the tire is inclined or the position is different, the protrusion does not come into contact with the tire.

[0020] When none of the light reflection sensors detects the tire, the controller determines that the position of the arms is appropriate. Then, the controller performs a tire lifting operation. Specifically, the controller lowers the arms, expands the arm bodies to the outside in the horizontal direction, and lifts the arms to lift the tire by the protrusions of the arms.

[0021] Alternatively, if the tire is detected by at least one of the light reflection sensors, the controller moves the at least three arms toward the direction from the laser distance sensor that detected the tire toward the center of the circle. The position of the arms is corrected by moving the arms.

[0022] Alternatively, the light reflection sensor can be a laser distance sensor.

[0023] It can also be that the controller monitors the distance measured by the laser distance sensor, and if the distances measured by the plurality of laser distance sensors differ from each other, the controller determines that the tire is detected by the light reflection sensor. Further, the distance measured by the laser distance sensor refers to the distance between the laser distance sensor and an object (tire or ground, etc.) located directly below the laser distance sensor in the vertical direction.

[0024] In this apparatus, the presence or absence of the tire can be accurately detected by using the laser distance sensor. Specifically, the tire is present directly below the sensor that detects a short distance.

[0025] Further, in the present specification, the case where the light reflection sensor does not detect the tire includes the case where the laser distance sensor detects a distance but detects a distance from an object other than the tire. In addition, the case where the light reflection sensor detects the tire includes the case where the laser distance sensor detects a distance and detects a distance from the tire.

[0026] It can also be that the controller moves the arm in a direction from the laser distance sensor that detects a short distance toward the center of the circumference, and then monitors the distance measured by the laser distance sensor.

[0027] In this apparatus, the position of the arm is corrected by moving the arm in a direction in which the laser distance sensor located directly above the tire is separated from the tire. As a result, the protruding portion is less likely to come into contact with the tire, and thus, the conveyance of the tire can be continued.

[0028] It can also be that the controller determines the number of tires that can be conveyed based on the difference between the distances measured by the plurality of laser distance sensors.

[0029] In this apparatus, even in the case where the difference between the distances measured by the plurality of laser distance sensors is present, the number of tires that can be conveyed can be conveyed. Thus, the efficiency of the conveyance of the tire becomes good.

[0030] It can also be that the tire conveyance apparatus further includes a contact sensor provided to the lower surface of the protruding portion and detecting the case where the tip end side of the protruding portion comes into contact with an object below.

[0031] It can also be that if the contact sensor detects the tire during the lowering of the arm, the controller stops the further lowering of the arm by the lifting mechanism.

[0032] In this apparatus, if the contact sensor of the lower end of the arm comes into contact with the tire, the lowering of the arm is stopped. Thus, the damage to the tire is prevented. The detection of the tire by the contact sensor means that the tire is located at a position where the light reflection sensor fails to detect but interferes with the protruding portion.

[0033] Effects of the Invention

[0034] In the tire conveyance device of the present application, the arm of the tire conveyance device is less likely to damage the tire when holding the tire. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a schematic front view of the tire conveyance device.

[0036] Figure 2 is a schematic perspective view showing the positional relationship of the arm of the tire conveyance device, the laser distance sensor, and the tire.

[0037] Figure 3 is a plan view showing the positional relationship of the hook portion and the laser distance sensor.

[0038] Figure 4 is a partial side view showing the lower portion of the arm, the hook portion, and the contact sensor.

[0039] Figure 5 is a schematic view showing one state of the tire lifting operation.

[0040] Figure 6 is a schematic view showing one state of the tire lifting operation.

[0041] Figure 7 is a schematic view showing one state of the tire lifting operation.

[0042] Figure 8 is a schematic view showing one state of the tire lifting operation.

[0043] Figure 9 is a block diagram showing the control configuration of the tire conveyance device.

[0044] Figure 10 is a flowchart showing the tire lifting control operation of the tire conveyance device.

[0045] Figure 11 is a flowchart showing the tire lifting control operation of the tire conveyance device.

[0046] Figure 12 is a schematic plan view showing one state of the positional relationship of the tire and the laser distance sensor.

[0047] Figure 13 is a schematic plan view showing one state of the positional relationship of the tire and the laser distance sensor.

[0048] Figure 14 is a schematic plan view showing one state of the positional relationship of the tire and the laser distance sensor. DETAILED DESCRIPTION

[0049] 1. First Embodiment

[0050] (1) Basic structure of tire conveying device

[0051] Use Figure 1 to explain the tire conveying device 1. Figure 1 is a schematic front view of the tire conveying device.

[0052] The tire conveying device 1 is a device or facility that conveys a tire T in a state where the tire T is hung horizontally (in a state where the meridian cross section of the tire is substantially horizontal), and specifically, moves the tire T or stacks and unstacks the tire T. Furthermore, Figure 1 The paper surface orthogonal direction of is the first direction (arrow X), Figure 1 The paper surface left-right direction of is the second direction (arrow Y). The vertical direction is indicated by arrow Z.

[0053] Furthermore, the tire T is a hollow member made of rubber provided with a central hole 4 Figure 2 ).

[0054] The tire conveying device 1 is a structure also called a gantry crane, and has a pair of first rails 3, a second rail 5, and a moving unit 7.

[0055] The pair of first rails 3 is placed at positions separated upward with respect to the ground, extends in parallel with the first direction, and is separated from each other in the second direction.

[0056] The second rail 5 extends in the second direction in a manner of being erected on the pair of first rails 3, and is movable in the first direction along the pair of first rails 3 by being driven by an X-axis drive device 71 Figure 9 ).

[0057] The moving unit 7 is supported to the second rail 5, and is movable in the second direction along the second rail 5 by being driven by a Y-axis drive device 73 Figure 9 ).

[0058] The tire conveying device 1 has a gripper device 9. The gripper device 9 is a device that grips and carries the tire T in a manner of being installed to the moving unit 7 in a manner of being able to be lifted. Specifically, the gripper device 9 is carried after gripping the tire T from the inside and lifting the tire T upward, and is moved horizontally to perform the carrying.

[0059] The tire conveying device 1 has a Z-axis drive device 75. The Z-axis drive device 75 is a mechanism that lifts the gripper device 9 installed to the lower portion thereof. The Z-axis drive device 75 is a known technology, for example, has a belt (not shown) that suspends the gripper device 9, a winding device that lifts the gripper device 9 by winding / unwinding the belt, and the like.

[0060] (2) Detailed structure of gripper device

[0061] The jig device 9 has a base 21 fixed to the Z-axis drive device 75 and three arms 23 extending from the base 21 to the lower side in the vertical direction.

[0062] The base 21 is a lifting platform suspended from the moving unit 7 in the up-and-down direction by a belt (not shown) of the Z-axis drive device 75.

[0063] The three arms 23 are arranged at equal intervals in the circumferential direction at an angle of 120° on a prescribed circumference.

[0064] A hook portion 25 extending outward in the horizontal direction is provided at the lower end of the arm main body 24 of each arm 23. The hook portion 25 is engaged with the upper side of the bead portion of the tire T from below. In a state in which the three hook portions 25 of the three arms 23 are engaged with the upper side of the bead portion of one tire T from below, the three arms 23 can be raised to lift the tire.

[0065] A touch sensor (not shown) can also be installed on the outer side surface of the arm 23. This touch sensor is used to detect when the main body of the arm 23 comes into contact with the upper surface opening edge of the central hole 4 of the tire T when the arm 23 is moved in the outward direction.

[0066] The jig device 9 has an arm expansion / contraction device 77 Figure 9 ). The arm expansion / contraction device 77 is a chuck device that expands and contracts (switches between an expanded state and a contracted state) the three arms 23 in the radial direction in the horizontal direction. The arm expansion / contraction device 77 is provided to the base 21.

[0067] The arm expansion / contraction device 77 is a well-known technology, for example, having a linkage mechanism (not shown) that operates a chuck cylinder (not shown) in conjunction with each arm 23.

[0068] Furthermore, the arm 23 is farthest away from the adjacent arm 23 in the circumferential direction at the expanded position, and closest to the adjacent arm 23 in the circumferential direction at the contracted position.

[0069] The jig device 9 has a first laser distance sensor 31A, a second laser distance sensor 31B, and a third laser distance sensor 31C. The first laser distance sensor 31A to the third laser distance sensor 31C are used to detect the distance in the height direction between an object below and the base 21 of the jig device 9. The first laser distance sensor 31A to the third laser distance sensor 31C are provided to the lower portion of the base 21 and emit laser light in the direction straight down, that is, the lower side in the vertical direction.

[0070] As Figure 2 and Figure 3As shown, the first to third laser distance sensors 31A to 31C are arranged in the circumferential direction of the hook portion 25, specifically, at an angle of 120° apart on a prescribed circumference. More specifically, the first to third laser distance sensors 31A to 31C are arranged outside a first circle CI that includes the tip of the hook portion 25 when the arm 23 is maximally contracted (one example of a contracted diameter state).

[0071] In this embodiment, the first to third laser distance sensors 31A to 31C are arranged close to the first circle CI. However, the first to third laser distance sensors 31A to 31C can be arranged between the first circle CI and a second circle C2 that includes the tip of the hook portion 25 when the arm 23 is maximally expanded (one example of an expanded diameter state). That is, the first to third laser distance sensors 31A to 31C are arranged in a range that is outside the first circle CI and inside the second circle C2. Further, the first to third laser distance sensors 31A to 31C can be arranged so as to be separated in the radial direction from the first circle CI. In addition, the first to third laser distance sensors 31A to 31C can not be arranged in the circumferential direction from each other. That is, the first to third laser distance sensors 31A to 31C can be arranged so as to have different distances from the center.

[0072] As described above, the first to third laser distance sensors 31A to 31C are arranged outside the first circle CI that includes the tip of the hook portion 25 when the arm 23 is positioned above the tire T and in the contracted diameter state, and detect an object positioned below.

[0073] The jig device 9 has the first to third contact sensors 33A to 33C that are arranged on the lower surface of the hook portion 25 and move up and down together with the tip side of the hook portion 25. Figure 9 The first to third contact sensors 33A to 33C are sensors for detecting a case in which the bottom surface of the hook portion 25 touches the upper surface of the tire T during lowering of the arm 23.

[0074] As one example of a contact sensor, a Figure 4 The first contact sensor 33A will be described. Figure 4 is a partial side view showing the lower portion of the arm, the hook portion, and the contact sensor.

[0075] The 1st contact sensor 33A has a plate 81 that turns up and down. The base side of the plate 81 is supported to the lower portion of the arm 23 by a turning shaft 81a that extends in the horizontal direction. The plate 81 is movable between a horizontal position that abuts against the main body 25a of the hook portion 25 and an inclined position that is distanced downward from the top end portion.

[0076] The 1st contact sensor 33A has a spring (not shown, for example, a coil spring) that elastically applies a force to the plate 81 in the turning direction downward. Thus, the plate 81 is normally located in the inclined position.

[0077] The 1st contact sensor 33A has a load sensor (not shown). The load sensor is provided at a position that is compressed between the plate 81 and other components of the hook portion 25 when the plate 81 turns upward and moves to the horizontal position by abutting against an object below.

[0078] (3) Basic operation of lifting the tire

[0079] Use Figures 5-8 The basic operation of the tire conveyance device 1 when lifting the tire T in the sideways-down position will be described. Figures 5-8 is a schematic view that shows one state of the tire lifting operation.

[0080] First, as shown in Figure 5 , the jig device 9 is arranged directly above the tire T (that is, directly above the center hole).

[0081] Next, as shown in Figure 6 , the three arms 23 are lowered and inserted inside the upper surface opening rim 6 in a contracted state, and the top end of the hook portion 25 is positioned near the center in the up-and-down direction of the tire T.

[0082] Next, as shown in Figure 7 , the three arms 23 are expanded in the tire radial direction to move the hook portion 25 to a position that hooks the upper surface opening rim 6 (the bead portion) of the tire T in plan view.

[0083] Finally, as shown in Figure 8 , the arms 23 are raised to support the upper surface opening rim 6 of the center hole 4 of the tire T from below with the hook portion 25 and lift it.

[0084] (4) Control configuration of the tire conveyance device

[0085] Use Figure 9 The control configuration of the tire conveyance device 1 will be described. Figure 9 is a block diagram that shows the control configuration of the tire conveyance device.

[0086] The tire conveyance device 1 has a controller 51.

[0087] The controller 51 is a computer system having a processor (e.g., CPU), a storage device (e.g., ROM, RAM, HDD, SSD, etc.), various interfaces (e.g., A / D converter, D / A converter, communication interface, etc.). The controller 51 performs various control actions by executing a program stored in a storage section (corresponding to a part or all of the storage area of the storage device).

[0088] The controller 51 can be constituted by a single processor, or can be constituted by a plurality of processors independent of each other for each control.

[0089] The functions of the elements of the controller 51 can be implemented in part or all as a program executable by the computer system constituting the controller 51. In addition, a part of the functions of the elements of the controller 51 can also be constituted by a custom IC.

[0090] The X-axis drive device 71, the Y-axis drive device 73, the Z-axis drive device 75, and the arm expansion / contraction device 77 are connected to the controller 51. The controller 51 can control these devices.

[0091] The first to third laser distance sensors 31A to 31C and the first to third contact sensors 33A to 33C are connected to the controller 51. Detection signals are input from these sensors to the controller 51.

[0092] Although not shown, sensors and switches for detecting the states of the respective devices, and an information input device are connected to the controller 51.

[0093] (5) Details of the tire lifting control action

[0094] Use Figures 10-14 The details of the tire lifting control action will be described. Figure 10 and Figure 11 is a flowchart showing the tire lifting control action of the tire conveying device. Figures 12-14 is a schematic top view showing one state of the positional relationship of the tire and the laser distance sensor.

[0095] The control flowchart described below is an example, and each step can be omitted and replaced as needed. In addition, it can be that a plurality of steps are executed simultaneously or a part or all of them are executed overlapping.

[0096] Furthermore, each block of the control flowchart is not limited to a single control action, and can be replaced by a plurality of control actions represented by a plurality of blocks.

[0097] In addition, the actions of each device are the results of instructions from the control section to each device, and they are represented by each step of the software application.

[0098] In step S1, the moving unit 7 is moved to a position directly above where the tire T is placed and then stopped. Specifically, the controller 51 performs the above action by controlling the X-axis drive device 71 and the Y-axis drive device 73. Furthermore, the position of the tire T is pre-stored in the storage unit of the controller 51.

[0099] In step S2, each arm 23 is moved to its innermost position (that is, into a reduced-diameter state). Specifically, the controller 51 performs this action by controlling the arm expansion / retraction device 77. Furthermore, if each arm 23 is already in a reduced-diameter state from the beginning, this action is omitted.

[0100] In step S3, the clamping device 9 is lowered to a predetermined height. Specifically, the controller 51 performs this action by controlling the Z-axis drive device 75. The predetermined height is, for example, the height at which the vertical distance between the lower bottom surface of the arm 23 and the uppermost surface of the tire T is a predetermined value (e.g., 300 mm). Furthermore, the height of the uppermost surface of the tire T is pre-stored in the storage unit of the controller 51.

[0101] In step S4, the first laser distance sensor 31A to the third laser distance sensor 31C illuminate the object below with a laser beam and receive the reflected laser light to detect the distance between themselves and the object below. At this time, because the clamping device 9 is lowered as described above, the distance between the first laser distance sensor 31A to the third laser distance sensor 31C and the tire T becomes closer, thus increasing the detection accuracy.

[0102] In step S5, it is determined whether the distances between the laser distance sensor and the objects located below the first laser distance sensor 31A to the third laser distance sensor 31C are different. If yes, the process proceeds to step S6; if no, the process proceeds to step S9.

[0103] The case where it is yes in step S5 is, for example, as follows: Figure 12 The diagram shows two of the first laser distance sensors 31A to the third laser distance sensors 31C located directly above the center hole 4 of the tire T, but one of them is directly above the tire T, resulting in a shorter measured distance than the other two. This is due to an improper position of the arm 23; if the arm 23 is lowered, one of the hooks 25 will touch the tire T.

[0104] If the condition is no in step S5, then it is as follows: Figure 13 As shown, the first laser distance sensor 31A to the third laser distance sensor 31C are all located directly above the center hole 4 of the tire T.

[0105] In step S6, it is determined whether the above determination has exceeded the predetermined number of times. If yes, the process proceeds to step S8. If no, the process proceeds to step S7.

[0106] In step S7, the clamping device 9 is moved horizontally. The moving distance is, for example, 5 to 10 mm. Specifically, as... Figure 12 As indicated by the hollow arrow, the controller 51 moves the clamping device 9, i.e., arm 23 (e.g., towards the circumferential center), so that the laser distance sensor among the first laser distance sensors 31A to the third laser distance sensor 31C that detects a short distance enters the center hole 4 of the tire T when viewed from above. Then, the distance measured by the first laser distance sensor 31A to the third laser distance sensor 31C is monitored. Thus, the position of arm 23 is corrected. As a result, arm 23 is less likely to contact the tire T. If step S7 ends, the process returns to step S4.

[0107] In addition, in such Figure 14 If two of the first laser distance sensors 31A to the third laser distance sensor 31C shown are located directly above the tire T and their measuring distance is shorter than that of the other, then... Figure 14 As shown by the hollow arrow, the controller 51 moves the clamping device 9, i.e., the arm 23, so that the two laser distance sensors among the first laser distance sensors 31A to the third laser distance sensors 31C that detect short distances enter the center hole 4 of the tire T when viewed from above.

[0108] In step S8, an anomaly is handled. Specifically, an anomaly alarm is issued. Subsequently, operators handle the anomaly manually or through other means to eliminate the abnormal state.

[0109] In step S9, the tire holding and lifting actions are performed (described later).

[0110] As described above, the controller 51 monitors the distances measured by the first laser distance sensor 31A to the third laser distance sensor 31C. If the tire T is not detected, the arm 23 is lowered using the Z-axis drive device 75 to hold the tire T.

[0111] On the other hand, if the distances measured by the first laser distance sensor 31A to the third laser distance sensor 31C differ from each other (that is, any one of the first laser distance sensor 31A to the third laser distance sensor 31C detects tire T), the controller 51 will not use the Z-axis drive device 75 to lower the arm 23. This means that if at least one of the first laser distance sensors 31A to the third laser distance sensor 31C detects tire T, then the measured distance of that sensor is the shortest, and tire T is located directly below that sensor. In other words, tire T is positioned at a location that overlaps with hook 25 when viewed from above (for example, tire T is tilted or in a different position). In other words, the controller 51 determines that the position of arm 23 is inappropriate.

[0112] Furthermore, as described above, if at least one of the first laser distance sensors 31A to the third laser distance sensor 31C fails to enter the center hole 4 of the tire T when viewed from above, the planar position of the clamping device 9 is repeatedly corrected and the downward distance is remeasured. That is, if the measured distances differ from each other (in step S5), the clamping device 9 is moved a predetermined distance (e.g., a few mm) in step S7, and the distance to the tire T is measured again in step S5. Moreover, differing measured distances refer to a situation where the measured distances exceed a predetermined value such as 30 to 50 mm.

[0113] use Figure 11 Detailed explanation Figure 10 Step S9.

[0114] In step S11, from, for example Figure 5 The clamping device 9 begins to descend from its current state. Specifically, the controller 51 performs this action by controlling the Z-axis drive device 75.

[0115] In step S12, it is determined whether at least one of the first contact sensor 33A to the third contact sensor 33C is ON. Specifically, the controller 51 makes the above determination based on the detection signals from the first contact sensor 33A to the third contact sensor 33C. If yes, the process proceeds to step S17; if no, the process proceeds to step S13.

[0116] In step S13, it is determined whether the clamping device 9 has reached the specified height position. Specifically, the controller 51 makes the above determination based on the detection signal from the sensor (not shown). If yes, the process proceeds to step S14; if no, the process returns to step S12.

[0117] In step S14, the descent of the clamping device 9 stops (e.g., Figure 6 (State of the process). Specifically, the controller 51 performs the above actions by controlling the Z-axis drive device 75.

[0118] In step S15, the three arms 23 are moved outward in the radial direction (e.g., Figure 7 (State of the process). Specifically, the controller 51 performs the above-mentioned action by controlling the arm extension / retraction device 77. As a result, the hook 25 is located below the upper surface opening edge 6 of the center hole 4 of the tire T. Furthermore, if the main body of the arm 23 abuts against the upper surface opening edge of the center hole 4 of the tire T, the movement of the three arms 23 is stopped according to the detection signal from the touch sensor, etc.

[0119] In step S16, the clamping device 9 is raised (e.g., Figure 8(State of the vehicle). Specifically, the controller 51 performs the above actions by controlling the Z-axis drive device 75. As a result, each arm 23 rises, and the hook 25 of each arm 23 lifts the entire tire T from the upper surface opening edge of the center hole 4 supporting the tire T from below.

[0120] In step S17, an anomaly is handled. Specifically, further descent of arm 23 is stopped. An anomaly alarm is issued, and the operator then manually removes the abnormality. Unlike the case where at least one of the first contact sensors 33A to 33C detects tire T, an anomaly is handled immediately without position correction when at least one of the first laser distance sensors 31A to 31C detects tire T. This is because, in the aforementioned case, tire T is considered to be in a state that cannot be addressed even through position correction or other adjustments.

[0121] 2. Second Implementation Method

[0122] In the first embodiment, when utilizing Figure 10 If the correction actions in step S7 fail to correct the problem after multiple attempts, an exception is handled in step S8.

[0123] As a variation of the above-described operation, the second embodiment will be described. Furthermore, the basic structure and operation of the second embodiment are the same as those of the first embodiment.

[0124] Controller 51 Figure 10 Between steps S5 and S6, a new step is performed based on the detection results of the first laser distance sensor 31A to the third laser distance sensor 31C to determine which layer of tire T can be transported up to. If there are transportable tires T, the process proceeds to step S9 to perform a tire holding and lifting operation. Furthermore, in the aforementioned tire holding and lifting operation, either the entire transportable quantity of tires T can be transported at once, or tires T can be transported one by one.

[0125] In the above situation, for example, if the difference in detection distance is caused by the tilt of the upper tire T, then the tilted upper tire T is transported first as described above, thereby enabling the lower tire T to be transported next.

[0126] The above results show that, even with differences in the distances measured by the first laser distance sensor 31A to the third laser distance sensor 31C, a certain number of transportable tires T can be conveyed. Therefore, the conveying efficiency of tires T becomes good.

[0127] Provide a specific example. For example... Figure 1As shown, the tire T is three layers, the tire width is 200 mm, and the overall height of the three layers is 600 mm. Further, the controller 51 grasps that the tire T is stacked in three layers based on the inventory data.

[0128] First, as Figure 10 Steps S4 and S5, the distance from the tire T is detected by the first to third laser distance sensors 31A to 31C at 300 mm above the tire T.

[0129] In this embodiment, the correction operation of Step S7 in Figure 10 However, in a case where the difference in distance cannot be eliminated and the difference in distance from each other again exists in Step S5 (YES in Step S5), the controller 51 judges that the tire T up to which layer from the top can be carried as a new step based on the detection results of the first to third laser distance sensors 31A to 31C.

[0130] For example, it is assumed that the detection results of two of the first to third laser distance sensors 31A to 31C are 900 mm (no tire T is detected), and the detection result of one sensor is 700 mm (the tire T of the lowermost layer is detected). In this example, the controller 51 judges that the tire T up to two layers from the top can be carried, for example. This is a case where the tire T of the lowermost layer is positioned at the correct position, but the tire T on the upper side is tilted and the difference in detection distance described above is generated, for example.

[0131] Further, next, in Figure 10 Step S9, the tire T up to two layers on the upper side is carried.

[0132] Next, the moving unit 7 returns to the position directly above where the tire T of the lowermost layer is placed.

[0133] Finally, the tire carrying device 1 detects the tire T of the lowermost layer, and then carries the tire T.

[0134] 3. Features of the Embodiment

[0135] The above-described embodiment can also be described as follows.

[0136] The tire carrying device 1 (one example of a tire carrying device) is a device that lifts and carries the tire T, and includes at least three arms 23, an arm expansion device 77, a Z-axis drive device 75, and a controller 51.

[0137] The three arms 23 (one example of an arm) include an arm main body 24 (one example of an arm main body) and a hook portion 25 (one example of a protruding portion) that is provided to the lower portion of the arm main body 24 in a manner that protrudes to the outside, and is used to lift the tire T.

[0138] The arm expansion / contraction device 77 (an example of an arm expansion / contraction mechanism) moves the arm 23 in a horizontal expansion / contraction direction.

[0139] The Z-axis drive device 75 (an example of a lifting mechanism) lifts and lowers the arm 23.

[0140] The first to third laser distance sensors 31A to 31C are disposed outside a first circle C1 (an example of a circle) including the top end of the hook portion 25 when the arm 23 is positioned above the tire T and in a contracted state, and detect an object positioned below.

[0141] If the tire T is detected by at least one of the first to third laser distance sensors 31A to 31C, the controller 51 determines that the position of the arm 23 is inappropriate.

[0142] In this device, if the tire T is detected by the first to third laser distance sensors 31A to 31C, the tire T is disposed at a position overlapping the hook portion 25 when viewed from above. In this case, for example, the Z-axis drive device does not lower the arm 23, and thus the hook portion 25 does not come into contact with the tire T even if the tire T is tilted or positioned differently.

[0143] 4. Other Embodiments

[0144] The above describes various embodiments of the present application, but the present application is not limited to the above-described embodiments, and various changes can be made without departing from the gist of the present application. In particular, the various embodiments and modified examples described in the present specification can be combined as desired.

[0145] (1) Modified Example of Arm

[0146] The number of arms can also be four or more, for example, four or five.

[0147] (2) Modified Example of Arm Horizontal Movement Action

[0148] In the first embodiment, in order to perform position adjustment of the arm, after moving the arm by a prescribed distance (a few mm), the laser distance sensor is used to perform re-detection of an object below. However, as a modified example, the arm can be continuously moved while measuring the distance to an object below. In this case, the arm is moved until the tire T is no longer detected.

[0149] Position adjustment of the arm can also be omitted.

[0150] (3) Modified Example of Laser Distance Sensor

[0151] The laser distance sensors can also be more than three, such as four, five, or six. Furthermore, the laser distance sensors are preferably each arranged between the arms.

[0152] Instead of the laser distance sensors, a reflection-type photosensor that detects the presence or absence of a reflection object can also be used. In this case, the presence or absence of the tire T directly below the sensor can be detected, and the controller can distinguish between the presence and absence of the tire T.

[0153] The clamp device can also not be lowered before the detection by the laser distance sensors. Alternatively, the detection by the laser distance sensors can be performed while the clamp device is being lowered.

[0154] (4) Modified Example of Contact Sensor

[0155] The contact sensor can be of any type, configuration, number, etc., as long as it can detect the case where the bottom surface of the hook portion contacts a component below. For example, the contact sensor can include an abutting component that moves up and down, a straight guide that guides the abutting component in the up-down direction, a spring that exerts a force downward on the abutting component, and a load sensor that is compressed between the abutting component and another component of the hook portion when the abutting component moves upward upon abutting against a component below.

[0156] The contact sensor can also be omitted.

[0157] (5) Modified Example of Tire Conveyance Device as a Whole

[0158] The tire conveyance device is not limited to a gantry crane and can be provided to an aerial conveyance vehicle that travels at a prescribed height.

[0159] Industrial Applicability

[0160] The present application can be widely applied to a device that lifts a tire by inserting arms from above into an upper surface opening edge of a central hole of the tire in a lateral posture and supporting the upper surface opening edge from below with hook portions of the arms.

[0161] Explanation of Reference Numerals

[0162] 1: Tire conveyance device

[0163] 3: First rail

[0164] 5: Second rail

[0165] 7: Moving unit

[0166] 9: Clamp device

[0167] 21: Base

[0168] 23: Arm

[0169] 25: hook portion

[0170] 31A: first laser distance sensor

[0171] 31B: second laser distance sensor

[0172] 31C: third laser distance sensor

[0173] 33A: first contact sensor

[0174] 33B: second contact sensor

[0175] 33C: third contact sensor

[0176] 51: controller

[0177] 71: X-axis drive device

[0178] 73: Y-axis drive device

[0179] 75: Z-axis drive device

[0180] 77: arm expansion / contraction device

Claims

1. A tire conveying device, comprising: At least three arms, each having an arm body and a protrusion located at the lower part of the arm body in an outward manner and used to lift the tire; An arm expansion and contraction mechanism that allows the at least three arms to move in a horizontal expansion and contraction direction; A lifting mechanism that raises and lowers the at least three arms; At least three light reflection sensors are configured on the outside of a circle containing the top of the protrusion, with the at least three arms positioned above the tire and in a reduced-diameter state, for detecting objects located below. as well as The controller determines that the position of one or more of the at least three arms is inappropriate when the tire is detected by one or more of the light reflection sensors.

2. The tire conveying device according to claim 1, wherein, The controller lifts the tire when none of the at least three light reflection sensors detect it.

3. The tire conveying device according to claim 1, wherein, If the tire is detected by one or more of the at least three light reflection sensors, the controller causes the at least three arms to move in the direction from the light reflection sensor that detected the tire toward the center of the circumference connecting the three light reflection sensors.

4. The tire conveying device according to claim 1, wherein, The optical reflection sensor is a laser distance sensor. The controller monitors the distance measured by the laser distance sensor. If the distances measured by multiple laser distance sensors differ from each other, the controller determines that the tire has been detected by the light reflection sensor.

5. The tire conveying device according to claim 4, wherein, The controller moves the at least three arms toward the center of the circumference connecting the three laser distance sensors from the laser distance sensor that detects the short distance, and then monitors the distance measured by the laser distance sensor.

6. The tire conveying device according to any one of claims 1 to 3, wherein, It also includes a contact sensor located on the lower surface of the protrusion to detect when the bottom surface of the protrusion contacts an object below it. If the contact sensor detects the tire during the descent of the arm, the controller causes the lifting mechanism to stop the further descent of the at least three arms.

7. The tire conveying device according to claim 4, wherein, The controller determines the number of tires that can be transported based on the differences between the distances measured by the multiple laser distance sensors.

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