Handling unit for a transport apparatus, and method for receiving a green tyre by means of the handling unit
Patent Information
- Application Number
- EP2023840897
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-12-20
- Filing Date
- 2023-12-18
- Publication Date
- 2025-10-29
AI Technical Summary
Current handling units for transporting green tires of different sizes face challenges in achieving optimal fit and alignment, leading to potential damage and undesirable marks due to manual adjustment limitations of the locking mechanism.
The handling unit incorporates an electric motor with a threaded rod and bearing block system, allowing precise adjustment of the guide disk and gripper arms, ensuring optimal fit and alignment by controlling the torque threshold for gripping, thus preventing damage.
This solution ensures precise and adjustable radial positioning of gripper arms, ensuring optimal fit and preventing damage to green tires during transport, maintaining their condition.
Smart Images
Figure 1.1
Abstract
Description
[0001] Description
[0002] Handling unit for a transport device and method for receiving a green tire by means of the handling unit
[0003] The invention relates to a handling unit for a transport device for transporting a green tire, wherein the handling unit has a main axis and comprises a gripping device, a guide disc and a drive,
[0004] - wherein the gripping device comprises a holder, a rail arrangement connected to the holder and having rails, and gripping arms guided in the rails and displaceable in the radial direction relative to the main axis, each having a guide element,
[0005] - wherein the guide disc is arranged between the holder and the rail arrangement, is mounted rotatably about the main axis relative to the holder and the rail arrangement and is provided with guide grooves approaching the main axis, each receiving a guide element of a gripper arm, wherein by actuating the drive the guide disc is rotated, so that the gripper arms are moved along the rails via their guide elements received in the guide grooves and thus the gripper arms are moved apart or towards each other.
[0006] The invention further relates to a method for receiving a green tire with a transport device which has a handling unit according to the invention.
[0007] In the automated production of pneumatic vehicle tires, green tires are gripped by handling units of the type mentioned above and transported using appropriate transport devices. Currently common handling units are driven by a pneumatic cylinder and have a locking mechanism. Actuating the pneumatic cylinder causes the guide disc to rotate, causing the gripper arms to move linearly. In order to pick up green tires intended for pneumatic vehicle tires of various inch sizes in as undamaged a condition as possible using the gripping device of the same handling unit, it is necessary to limit the extent of the linear movement of the piston rod of the pneumatic cylinder in a manner tailored to the respective inch size. For this purpose, the handling unit includes a manually adjustable locking mechanism, which must be activated when changing the tire size.If the locking mechanism is not adjusted correctly, there is a risk that the green tire will not be optimally picked up by the gripping device and, for example, will not be aligned horizontally. This could result in unwanted marks on the green tire. Furthermore, the green tire could fall off the gripping device and be damaged.
[0008] The invention is therefore based on the object of enabling the best possible fit for green tires of different dimensions in the gripping device in a handling unit and a method of the type mentioned above.
[0009] As far as the handling unit is concerned, the object is achieved according to the invention in that the drive
[0010] - an electric motor rotatably mounted on the bracket,
[0011] - a bearing block connected to the guide disc and mounted so as to be rotatable relative to it and
[0012] - a threaded rod which is screwed into the bearing block and can be set in rotation in both directions by the electric motor, whereby the threaded rod is set in rotation by actuating the electric motor, the position of the bearing block along the threaded rod is changed, the electric motor is moved relative to the bearing block and the guide disc is thereby rotated with simultaneous rotation of the bearing block and the electric motor.
[0013] The threaded rod, which can be rotated in both directions by the electric motor, allows the rotation of the guide disc to be stopped at a very precisely adjustable, variable position, allowing the radial position of the gripper arms to be continuously adjusted. This ensures optimal seating of the green tires in the gripper device.
[0014] Regarding the method, the stated object is achieved according to the invention with the following sequential steps: a) aligning the handling unit with respect to a green tire and b) moving the gripping arms of the gripping device together by actuating the electric motor with a limited torque, wherein the movement of the gripping arms stops upon contact with the green tire as soon as a threshold value of the torque of the electric motor is reached.
[0015] The force acting on the green tire when gripping it is precisely defined by the torque threshold. This ensures optimal fit of the green tires. In particular, the gripping arms no longer leave any marks on the green tires, ensuring that the green tires are transported in perfect condition.
[0016] Preferred designs of the handling unit are discussed below.
[0017] According to a preferred embodiment, the electric motor is a servomotor. The servomotor is advantageously already equipped with a rotary encoder (shaft encoder), making it particularly easy to control. The rotary encoder allows the degree to which the threaded rod is set in rotation to be adjusted very precisely. The number of revolutions of the threaded rod can be precisely adjusted, and even non-integer revolutions can be specified.
[0018] A further preferred embodiment is characterized in that the handling unit comprises a base plate consisting of the guide disc and two unstructured cover discs covering the guide disc on its various sides. The cover discs protect the guide disc from dirt and foreign matter.
[0019] For the seat of the green tire in the gripping device, it is advantageous if the rails of the rail arrangement of the gripping device are arranged in a cross shape, in particular offset by 90° to one another with respect to the main axis.
[0020] According to a further advantageous embodiment, the bearing block of the drive is rotatably mounted on a fixed bearing connected to the guide disc and not movable relative to the guide disc.
[0021] Further features, advantages and details of the invention will now be described in more detail with reference to the drawing, which schematically shows an embodiment of the invention.
[0022] Fig. 1a is an oblique view from above of a handling unit, with components of the handling unit removed,
[0023] Fig. 1 b another oblique view from above of the handling unit,
[0024] Fig. 2a an oblique view from below of the handling unit and
[0025] Fig. 2b shows another oblique view from below of the handling unit.
[0026] The invention relates to a handling unit for a
[0027] Transport device for transporting a green tire (raw tire) and a method for receiving a green tire with the involvement of the handling unit. After vulcanization, the green tire is a pneumatic vehicle tire for a motor vehicle, in particular a pneumatic vehicle tire for a multi-track motor vehicle.
[0028] Directional and positional specifications used below or related expressions such as “top”, “bottom”, “vertical”, “upper” and the like refer to the orientation of the handling unit mounted on the transport device.
[0029] The transport device can comprise one or more handling units and can be, for example, a floor-standing loader or a rail system suspended from a ceiling. The handling unit(s) can be moved up and down vertically by means of the transport device in a conventional manner.
[0030] Fig. 1a, Fig. 1b, Fig. 2a, and Fig. 2b show views of a handling unit with a main axis ai extending in the vertical direction. The handling unit comprises a circular disk-shaped base plate 1 (Fig. 1b, Fig. 2a, Fig. 2b), a gripping device 2, and a drive 3.
[0031] The base plate 1 consists of an upper cover plate 4a (Fig. 1b), a lower cover plate 4b (Fig. 2a, Fig. 2b) and a guide plate 5 located between the cover plates 4a, 4b (Fig. 1a, in Fig. 1a the cover plates 4a, 4b are removed). According to Fig. 1a, the guide plate 5 is rotationally symmetrical with respect to the main axis ai. The guide plate 5 is penetrated by four elongated guide grooves 5a which, when viewed from above, are curved and spaced from the edge of the guide plate 5 and offset by 90° from one another with respect to the main axis ai. Starting from the edge region of the guide plate 5, they approach the main axis ai, wherein the direction of curvature of the guide grooves 5a coincides with the direction of curvature of the outer circumference of the guide plate 5.
[0032] As Fig. 1a, Fig. 1b, Fig. 2a and Fig. 2b further show, the gripping device 2 is composed of a holder 6 located above the base plate 1 (Fig. 1a, Fig. 1b), a rail arrangement 7 located below the base plate 1 (Fig. 2a, Fig. 2b) and gripping arms 8.
[0033] According to Fig. 1a and Fig. 1b, the holder 6 has a circular disk-shaped adapter plate 6a in its center and four rectangular mounting elements 6b attached to the adapter plate, arranged in a cross-shaped manner in plan view, oriented radially with respect to the main axis ai, and extending beyond the outer edge of the base plate 1 (Fig. 1b). The handling unit can be coupled to and uncoupled from a transport device via the adapter plate 6a in a conventional manner.
[0034] According to Fig. 2a and Fig. 2b, the rail arrangement 7 has four elongated rails 7a, each with a downwardly open groove 7a' aligned in the longitudinal extent of the rail 7a. As a comparison of Fig. 1a and Fig. 1b with Fig. 2a and Fig. 2b shows, the rails 7a each lie opposite one of the support elements 6b (Fig. 1a, Fig. 1b), are therefore aligned in the radial direction with respect to the main axis ai, extend beyond the outer edge of the base plate 1, and are fixed at this point to one of the support elements 6b in a particularly releasable manner.
[0035] One of the aforementioned gripping arms 8 is provided for each rail 7a, with the gripping arms 8 each comprising a carriage 8a guided for linear displacement in the respective groove 7a', a downwardly projecting, slightly curved, plate-shaped pressure element 8b fixed to the carriage 8a, and a projecting, pin-shaped guide element (not visible in the figures) located on the upper side of the carriage 8a and received in one of the guide grooves 5a (Fig. 1a) of the guide disk 5. The gripping arms 8 are thus displaceable in the radial direction relative to the main axis ai.
[0036] According to Fig. 1a and Fig. 1b, the drive 3 comprises a servo motor 3a with a rotary encoder, a motor bracket 3b, a coupling 3c, a threaded rod 3d with an external thread not shown in the figures, a fixed bearing 3e and a bearing block 3f.
[0037] The motor bracket 3b is located on one of the support elements 6b and is mounted for rotation relative to the support 6 about a vertical axis a2 (Fig. 1a). The servo motor 3a is held by the motor bracket 3b and can rotate together with it.
[0038] The fixed bearing 3e is fixed to the upper side of the upper cover plate 4a at the edge (Fig. 1b). The bearing block 3f is located on the upper side of the fixed bearing 3e, is mounted for rotation relative to the fixed bearing 3e about a vertical axis as, and has a horizontally extending bushing 3f' with an internal thread penetrating the bearing block 3f.
[0039] The threaded rod 3d is connected to the servo motor 3a via the coupling 3c, runs at a constant distance from the guide disc 5 (Fig. 1a), and is screwed into the internal thread of the bushing 3f' of the bearing block 3f. By actuating the servo motor 3a, the threaded rod 3d can be rotated either clockwise or counterclockwise.
[0040] The following explains the functionality of the handling unit and a method for picking up a green tire using the handling unit.
[0041] By actuating the servomotor 3a (Fig. 1a, Fig. 1b), the threaded rod 3d (Fig. 1a, Fig. 1b) is rotated clockwise or counterclockwise. This changes the position of the bearing block 3f (Fig. 1a, Fig. 1b) along the threaded rod 3d, whereby the bearing block 3f moves closer to or away from the servomotor 3a, depending on whether the threaded rod 3d is rotated clockwise or counterclockwise. As a result, the entire base plate 1, and therefore also the associated guide disc 5, is rotated relative to the holder 6 about the main axis ai, with the direction of rotation correlating with the direction of rotation of the threaded rod 3d.At the same time, the gripping arms 8 are moved linearly along the grooves 7a via the guide elements of the slides 8a guided in the guide grooves 5a, whereby the gripping arms 8 are moved together or apart depending on whether the threaded rod 3d is rotated clockwise or counterclockwise.
[0042] To pick up a green tire, the handling unit located on the transport device is first positioned over the green tire to be transported. If the gripper arms 8 are moved together, they are moved apart by actuating the servo motor 3a. The handling unit is moved downwards by means of the transport device such that the handling unit is aligned with the green tire and the green tire can be picked up with the gripper device 2. The servo motor 3 is then actuated with a limited torque, causing the gripper arms 8 to move together. When the gripper arms 8 come into contact with the green tire, the torque of the servo motor 3 increases. As soon as a defined torque threshold is reached, the servo motor 3 stops, thus also stopping the linear movement of the gripper arms 8. The gripper arms 8 now hold the green tire.
[0043] The torque threshold is determined empirically. In particular, the same threshold is used for all green tires. However, different thresholds can be defined for different green tires, for example for green tires of different tire designs. The servomotor 3a is operated in a particularly fully automatic manner by means of an appropriately programmed controller. The required hardware and software are not the subject of the invention. The current intensity and, via this, the limited torque as well as the torque threshold are set via the controller. As soon as the gripper arms 8 contact the green tire, a force counteracts the movement of the gripper arms 8, whereby the servomotor 3 requires more current (higher current intensity) for the further movement of the gripper arms 8. The torque is thus limited via the current.
[0044] The design of the handling unit is preferably such that tires for rims with a rim diameter of 13 inches to 24 inches can be accommodated.
[0045] The invention is not limited to the described embodiment.
[0046] The cover plates 4a and 4b are optional. Instead of the servo motor, another suitable electric motor can be used.
[0047] List of reference symbols
[0048] 1 base plate
[0049] 2 gripping device
[0050] 3 Drive
[0051] 3a Servo motor 3b Motor console
[0052] 3c clutch
[0053] 3D threaded rod
[0054] 3rd fixed bearing
[0055] 3f bearing block 3f' bushing
[0056] 4a upper cover plate
[0057] 4b lower cover plate
[0058] 5 Guide disc
[0059] 5a Guide groove 6 Bracket
[0060] 6a adapter plate
[0061] 6b Supporting element
[0062] 7 Rail arrangement
[0063] 7a rail 7a' groove
[0064] 8 gripper arm
[0065] 8a Sled
[0066] 8b Pressure element ai main axis a2, as axis
Claims
Patent claims 1 . Handling unit for a transport device for transporting a green tire, wherein the handling unit has a main axis (ai) and comprises a gripping device (2), a guide disc (5) and a drive (3), - wherein the gripping device (2) comprises a holder (6), a rail arrangement (7) connected to the holder (6) and having rails (7a), and gripping arms (8) guided in the rails (7a) and displaceable in the radial direction with respect to the main axis (ai), each having a guide element, - wherein the guide disc (5) is arranged between the holder (6) and the rail arrangement (7), is mounted rotatably about the main axis (ai) relative to the holder (6) and the rail arrangement (7) and is provided with guide grooves (5a) approaching the main axis (ai), each receiving a guide element of a gripping arm (8), wherein by actuating the drive (3) the guide disc (5) is rotated, so that the gripping arms (8) are displaced along the rails (7a) via their guide elements received in the guide grooves (5a), and thus the gripping arms (8) are moved apart or towards each other, characterized in that the drive (3) - an electric motor (3a) rotatably mounted on the bracket (6), - a bearing block (3f) connected to the guide disc (5) and mounted so as to be rotatable relative thereto, and - a threaded rod (3d) which can be set in rotation in both directions by the electric motor (3a) and is screwed into the bearing block (3f), wherein by actuating the electric motor (3a) the threaded rod (3d) is set in rotation, the position of the bearing block (3f) along the threaded rod (3d) is changed, so that the electric motor (3a) moves relative to the bearing block (3f) and thereby the guide disc (5) is rotated with simultaneous rotation of the bearing block (3f) and the electric motor (3a).
2. Handling unit according to claim 1, characterized in that the electric motor (3a) is a servo motor (3a).
3. Handling unit according to claim 1 or 2, characterized in that it comprises a base plate (1) which consists of the guide disc (5) and two unstructured cover discs (4a, 4b) covering the guide disc (5) on its different sides.
4. Handling unit according to one of claims 1 to 3, characterized in that the rails (7a) of the rail arrangement of the gripping device (2) are arranged in a cross shape, in particular offset by 90° to one another with respect to the main axis (ai).
5. Handling unit according to one of claims 1 to 4, characterized in that the bearing block (3f) of the drive (3) is rotatably mounted on a fixed bearing (3e) connected to the guide disc (5) and not movable relative to the guide disc (5).
6. Method for picking up a green tire with a transport device which has a handling unit according to one of claims 1 to 5, with the following sequential steps: a) aligning the handling unit with respect to a green tire and b) moving the gripping arms (8) of the gripping device (2) together by actuating the electric motor (3) with a limited torque, wherein the movement of the gripping arms (8) stops upon contact with the green tire as soon as a threshold value of the torque of the electric motor (3) is reached.