Slewing drive for a loading and / or unloading apparatus, loading and / or unloading apparatus with a slewing drive, tyre-heating press and method for handling tyres

Abstract

The invention relates to a slewing drive for a loading and / or unloading apparatus, to a loading and / or unloading apparatus with a slewing drive, to a tyre-heating press and also to a method for handling tyres. According to the invention, a linear driving movement is converted into a rotational movement, which allows precise and gentle slewing movements. The axis of linear movement of the linear drive is parallel or identical to the axis of rotation of the slewing drive.

Description

[0001] Swivel drive for a loading and / or unloading device, loading and / or unloading device with a swivel drive, tire heating press and method for handling tires

[0002] The invention relates to a swivel drive for a loading and / or unloading device.

[0003] Furthermore, the invention relates to a loading and / or unloading device with a swivel drive.

[0004] Furthermore, the invention relates to a tire heating press comprising at least one loading and / or unloading device with a pivoting drive.

[0005] Furthermore, the invention relates to a method for handling tires using a loading and / or unloading device.

[0006] The automated loading and unloading of machines, such as tire curing presses, is already performed using loading and / or unloading devices. Particularly in the case of machines that create space between vertically stacked machine elements for the object to be loaded or unloaded into or from the machine, it is often necessary for the loading and / or unloading device to pivot sideways into this space to deposit or pick up the object.

[0007] Known swivel drives for loading and / or unloading devices have horizontally arranged actuators, usually implemented by hydraulic cylinders, which move the loading and / or unloading device by linear retraction or extension around a vertically aligned swivel axis and thus allow it to swivel in or out for loading or unloading a machine.

[0008] In addition to the high space requirements of this type of drive, they require the additional use of shock absorbers for smooth operation.

[0009] It is an object of the invention to provide a swivel drive for a loading and / or unloading device which at least partially eliminates the aforementioned disadvantages of the known swivel drives.

[0010] This object is achieved according to the invention by a rotary actuator according to patent claim 1.

[0011] Further objects of the invention are to provide an improved loading and / or unloading device with a pivoting drive and an improved tire heating press.

[0012] These objects are achieved by a loading and / or unloading device with a pivoting drive according to patent claim 13 and a tire heating press according to patent claim^.

[0013] It is further an object of the invention to provide an improved method for handling tires.

[0014] This object is achieved according to the invention by a method for handling tires according to patent claim 15.

[0015] The dependent patent claims claim advantageous developments of the invention.

[0016] The features disclosed below of a swivel drive for a loading and / or unloading device, a loading and / or unloading device with a swivel drive, a tire heating press and a method for handling tires are part of the invention in all executable combinations.

[0017] A swivel drive according to the invention for a loading and / or unloading device has at least one linear drive, at least one converter for converting the linear movement of the linear drive into a rotary movement and at least one rotatable axis.

[0018] Using the linear drive, a drive element can be moved back and forth on a linear motion axis.

[0019] In preferred embodiments of the invention, the linear drive of the swivel drive is arranged such that the linear movement axis of the linear drive and the rotation axis of the swivel drive are approximately parallel or identical.

[0020] In advantageous embodiments of the invention, the linear drive of the swivel drive is arranged such that the linear movement axis of the linear drive is aligned approximately vertically. This corresponding arrangement of the linear drive enables a particularly space-saving design of the swivel drive with regard to the area required in plan view.

[0021] In preferred embodiments of the invention, the converter for converting the linear movement of the linear drive into a rotary movement has at least one guide and at least one sliding element guided in the guide.

[0022] The guide is designed to receive the sliding element and, in embodiments of the invention, is shaped at least partially in a spiral or helical manner.

[0023] In embodiments of the invention, the guide is formed as a groove or as a slot in a guide body.

[0024] In embodiments of the invention, the guide body is cylindrical or tubular.

[0025] In embodiments of the invention, the sliding element is designed as a pin, for example, with a cylindrical body. In embodiments of the invention, the sliding element is designed as a roller pin and / or provided with a mushroom head.

[0026] In various embodiments of the invention, one of the guide elements, guide body, or sliding element is rigidly connected to the drive element of the linear drive, at least in the direction of the linear movement axis. The other element is mounted for rotation relative to the element rigidly connected to the linear drive in such a way that it can be set into a rotational movement around the rotational axis of the pivot drive by the linear movement of the drive element of the linear drive and by the guidance of the sliding element in the guide.

[0027] In preferred embodiments of the invention, the pivot drive has at least one pivot bearing, for example designed as a rolling bearing, for the rotatable mounting of the respective rotatable element.

[0028] Furthermore, embodiments of the invention are conceivable in which the drive element of the linear drive is rotatable and / or has a rotatable region.

[0029] In embodiments of the invention, the rotatable element is fixedly connected to a rotatable axis which serves to connect the swivel drive to the assembly of a loading and / or unloading device to be swiveled.

[0030] The guide in the guide body has a first and a second end and runs in the direction of the axis of rotation of the rotary actuator from the first end to the second end in or on the guide body.

[0031] In a section plane to which the axis of rotation is perpendicular, the angle between the first and second ends of the guide defines the maximum angle of rotation of the rotary actuator.

[0032] With a constant / uniform movement of the drive element of the linear drive, the change in angle specified by the guide as a function of the distance traveled by the drive element defines the rotational speed of the rotary actuator.

[0033] Through areas with a small change in angle depending on the path, slow elements can be included in the rotational movement.

[0034] In preferred embodiments of the invention, the guide has a linear region or a region with a slight change in angle depending on the travel in at least one of the end regions. This allows for a motion profile that eliminates the need for shock absorbers. For example, motion profiles with two or more stopping points can be realized, in which the guide is designed to be linear in the direction of the rotation axis.

[0035] When depicting the rotational movement in a diagram in which the angle of rotation of the swivel drive as a function of the position X of the sliding element in the longitudinal direction of the guide or the straight guide, in preferred embodiments of the invention at least four areas with respective associated gradients are realized.

[0036] In one embodiment of the invention, this has two end regions in which the pitch is zero, so that no rotation of the rotary actuator occurs in these regions. With respect to the rotary actuator, such regions without a pitch are holding positions.

[0037] In the two other ranges, the gradient of the curve increases or decreases continuously. With a constant linear movement of the drive element of the linear drive, this corresponds to an increase or decrease in the rotational speed of the rotary actuator. Depending on the direction of movement of the linear drive, this is reversed accordingly.

[0038] In embodiments of the invention, the rotary movement has at least one further region in which the curve has a constant gradient not equal to 0. This is accompanied by a constant rotational speed of the swivel drive.

[0039] The use of transition areas in which the rotational speed is reduced evenly before stopping positions enables the rotary actuator to be operated without shock absorbers because the rotary movement is stopped smoothly or gently.

[0040] In preferred embodiments of the invention, the guide body comprises two corresponding guides located opposite one another on or in the guide body, each of which guides a sliding element. This ensures lower forces acting on a single sliding element, thus reducing wear.

[0041] In preferred embodiments of the invention, the converter is at least partially arranged in a housing. In embodiments of the invention, the housing conceals the guide or encloses the guide body and / or the sliding element in such a way that they are protected from the ingress of dirt and dust and / or that, for safety purposes, it is impossible for people to reach into them. In preferred embodiments of the invention, the pivot drive has at least one linear guide that ensures a linear movement of at least one sliding element along a linear movement axis.

[0042] In embodiments of the invention, the at least one sliding element engages both in the at least one guide and in the at least one linear guide. Either the linear guide or the guide is arranged in a stationary and immovable manner, so that rotation of the rotatable element provided with the respective other guide element can be forced.

[0043] In embodiments of the invention, the linear guide is realized using the linear drive. For example, the shaft of the drive element is designed to be non-rotatable in the direction of the rotation axis, corresponding to a corresponding opening in the linear drive through which the shaft of the drive element extends. In embodiments according to the invention, this can be achieved, for example, by an at least monogonal shape of the corresponding opening and the shaft cross-section.

[0044] A loading and / or unloading device according to the invention has at least one pivot drive according to the invention and a receiving device connected to the axis of the pivot drive for receiving and / or holding an object to be loaded or unloaded.

[0045] In embodiments of the invention, the receiving device is designed, for example, as a fork or a similar device for receiving the object on a support surface or as a gripper.

[0046] A tire curing press according to the invention has at least one loading and / or unloading device according to the invention.

[0047] By using the loading and / or unloading device according to the invention for loading and / or unloading a tire curing press, the press can be manufactured and maintained in a more space-saving manner and, due to the fact that shock absorbers for the swivel drive are no longer required, also more cost-effectively.

[0048] In preferred embodiments of a tire curing press according to the invention, the at least one loading and / or unloading device according to the invention is arranged at the head of the tire curing press. A method according to the invention for handling tires comprises at least the following method steps:

[0049] Picking up a green tire or a vulcanized tire using a loading and / or unloading device

[0050] Swinging into the tire curing press and depositing the green tire or swinging out of the tire curing press and depositing the vulcanized tire, wherein a loading and / or unloading device according to the invention with a swivel drive is used.

[0051] In embodiments of the method according to the invention, the linear drive of the swivel drive is moved at a constant speed.

[0052] In embodiments of the method according to the invention, at least one sliding element is moved through a guide by the linear movement of the drive element of the linear drive in such a way that a rotatable element is thereby rotated about the axis of rotation of the pivot drive.

[0053] In embodiments of the method according to the invention, a movement profile of the rotational movement is realized with at least one linear region in which no rotational movement takes place.

[0054] In embodiments of the method according to the invention, a movement profile of the rotary movement is realized with at least four regions, each with associated rotational speeds, wherein two regions represent end regions in which no rotational movement takes place, and two regions represent transition regions in which the speed of the rotary movement is uniformly increased and / or decreased.

[0055] In embodiments of the method according to the invention, a movement profile of the rotary movement is realized with at least five regions, each with associated rotational speeds, wherein two regions represent end regions in which no rotational movement takes place, and two regions represent transition regions in which the speed of the rotary movement is uniformly increased and / or decreased, and one region has a constant rotational speed not equal to 0. In embodiments of the method according to the invention for handling tires, at least one pivot drive according to the invention is used for a loading and / or unloading device, and / or a tire curing press according to the invention.

[0056] The following figures illustrate exemplary embodiments of the invention. They show:

[0057] Figure 1: A side view of an embodiment of the invention of a

[0058] rotary actuator,

[0059] Figure 2: A section through the rotary actuator shown in Figure 1,

[0060] Figure 3: A perspective view of the guide body according to the

[0061] Embodiment from Figures 1 and 2,

[0062] Figure 4: A perspective view of an embodiment of the invention of a

[0063] Loading and / or unloading device and

[0064] Figure 5: A diagram showing an embodiment of a

[0065] Swivel drive, the angle of rotation of the guide is plotted as a function of the position of the sliding element in the longitudinal direction.

[0066] Figure 1 shows a side view of an embodiment of a pivot drive (1) according to the invention.

[0067] The swivel drive (1) has a linear drive (2), a converter (3) for converting the linear movement of the linear drive (1) into a rotary movement and a rotatable axis (4).

[0068] In the embodiment of the invention shown, the linear movement axis of the linear drive (1) is identical to the rotation axis (XC) of the swivel drive (1).

[0069] The converter (3) has a guide (5) formed by two helical or spiral-shaped slots arranged opposite one another on the guide body (7). The guide body (7) is designed as a hollow cylinder. The drive element (10) of the linear drive (2), not visible in this illustration, runs within the hollow space of the guide body (7). Two oppositely arranged, radially outwardly projecting sliding elements (6) are connected to the drive element (10).

[0070] The sliding elements (6) engage both in the respective slot of the guide (5) and in a linear guide (11) in the housing (8) of the converter (3). The linear guide (11) is formed as two opposing grooves or slots in the housing (8) that are aligned parallel to the rotational axis (XC) of the rotary actuator (1). The housing (8) is shown partially transparent in Figure 1, so that the guide body (7) arranged therein is visible.

[0071] The guide body (7) is rotatably mounted in the housing (8) of the converter (3) by means of at least one pivot bearing (9) and is held in the direction of the linear movement axis of the linear drive (2) so that, apart from any play that may be present and the rotational mobility about the rotation axis (XC), the position of the guide body (7) is fixed.

[0072] Since the alignment of the sliding elements (6) is fixed by the guide in the straight guides (11), the guide body (7) is rotated when the drive element (10) and thus also the sliding elements (6) move so that the guide (5) and the straight guide (11) lie on top of each other at the position of the sliding elements (6).

[0073] Figure 2 shows a section through the rotary actuator (1) shown in Figure 1. Here, the drive element (10) of the linear actuator (2), which is mounted centrally in the guide body (7), can be seen.

[0074] Figure 3 shows a perspective view of the guide body (7) according to the embodiment of Figures 1 and 2. The correspondingly formed slots of the guide (5) arranged opposite one another in the guide body (7) can be seen.

[0075] At the lower end, the guide body (7) is connected to the rotating axis (4).

[0076] In preferred embodiments of the invention, the guide body (7) and the rotatable axle (4) are formed as a single piece. For example, they are made from a single piece of steel.

[0077] Furthermore, it can be seen that the diameter of the guide body (7) is larger than the diameter of the rotating shaft (4). This serves, in particular, to better hold the guide body (7) in the housing (8) of the converter (3), which engages underneath the guide body (7) to fix it.

[0078] At the upper end, the guide body (7) has a section with a reduced diameter. This serves to accommodate the guide body (7) in the pivot bearing (9).

[0079] The slots in the guide body (7) that form the guide (5) each extend from a first end (12) to a second end (13). In the area of ​​the ends (12, 13), the slots are aligned linearly and parallel to the rotation axis (XC).

[0080] Figure 4 shows a perspective view of an embodiment of a loading and / or unloading device (14) according to the invention having a pivot drive (1) according to the invention.

[0081] A receiving device (15) is connected to the rotatable axis (4) of the swivel drive (1), which in the embodiment shown is fork-shaped.

[0082] Figure 5 shows a diagram in which the angle of rotation relative to the position X of the sliding element (6) in the longitudinal direction of the guide (5) or the straight guide (11) is plotted for an embodiment of a pivot drive (1) according to the invention.

[0083] The movement of the pivot drive (1) depicted here has five regions. Regions I and V correspond to the end regions (12, 13) of the guide (5). In the illustrated embodiment of the invention, the end regions (12, 13) are linear and parallel to the axis of rotation (XC) or to the linear guides (11), so that the linear movement of the sliding elements (6) in these regions is not accompanied by any rotation. The gradient of the depicted curve is therefore 0 in these regions. With respect to the pivot drive (1), such regions without a gradient are holding positions.

[0084] In areas II and IV, the gradient of the curve shown increases or decreases continuously. With a constant linear movement of the drive element (10) of the linear drive (2), this corresponds to an increase or decrease in the rotational speed of the rotary actuator (1). Depending on the direction of movement of the linear drive (2), this is reversed accordingly.

[0085] In range III, the curve shown has a constant gradient. This corresponds to a constant rotational speed of the rotary actuator (1). The use of transition ranges II and IV before stop positions enables the rotary actuator (1) to operate without shock absorbers, because the rotary movement is stopped smoothly or gently.

[0086] In embodiments of the invention, more than two holding positions are also conceivable.

Claims

Patent claims 1. Swivel drive (1) for a loading and / or unloading device (14), comprising at least one linear drive (2), a converter (3) for converting the linear movement of the linear drive (2) into a rotary movement and at least one rotatable axis (4), characterized in that the linear movement axis of the linear drive (2) and the rotation axis (XC) of the swivel drive (1) are approximately parallel or identical.

2. Swivel drive (1) according to claim 1, characterized in that the linear movement axis of the linear drive (2) is aligned vertically.

3. Swivel drive (1) according to one of claims 1 and 2, characterized in that the converter (3) has at least one guide (5) and at least one sliding element (6) guided in the guide (5).

4. Swivel drive according to claim 3, characterized in that the guide (5) is at least partially spiral or helical in shape.

5. Swivel drive (1) according to one of claims 3 and 4, characterized in that the guide (5) is designed as a groove or as a slot in or on a guide body (7).

6. Swivel drive (1) according to one of claims 3 to 5, characterized in that the guide (5) has a first end (12) and a second end (13) and in the direction of The axis of rotation (XC) of the pivot drive (1) extends from the first end (12) to the second end (13), wherein the guide (5) has a linear region at least in the region of one of the ends (12, 13).

7. Swivel drive (1) according to one of claims 3 to 6, characterized in that the sliding element (6) is designed as a pin.

8. Swivel drive (1) according to one of claims 3 to 7, characterized in that in each case one of the elements guide (5) or guide body (7) or sliding element (6) is firmly connected to the drive element (10) of the linear drive (2), wherein the respective other element is mounted so as to be rotatable relative to the element firmly connected to the linear drive (2) in such a way that it can be set into a rotary movement about the axis of rotation (XC) of the swivel drive (1) by the linear movement of the drive element (10) of the linear drive (2) and by the guidance of the sliding element (6) in the guide (5).

9. Swivel drive (1) according to claim 8, characterized in that it has at least one rotary bearing (9) for the rotatable mounting of the respective rotatable element.

10. Swivel drive (1) according to one of claims 3 to 9, characterized in that it has two corresponding guides (5) realized opposite one another on or in the guide body (7), in each of which a sliding element (6) is guided.

11. Swivel drive (1) according to one of claims 3 to 10, characterized in that it has at least one straight guide (11) which ensures a linear movement of at least one sliding element (6) on a linear movement axis.

12. Swivel drive (1) according to claim 11, characterized in that the at least one sliding element (6) engages both in the at least one guide (5) and in the at least one straight guide (11), wherein either the straight guide (11) or the guide (5) is arranged stationary and immovable, so that a rotation of the rotatable element provided with the respective other guide element can be forced.

13. Loading and / or unloading device (14), characterized in that it has at least one pivot drive (1) according to one of claims 1 to 12 and a receiving device (15) connected to the rotatable axis (4) of the pivot drive (1) for receiving and / or holding an object to be loaded or unloaded.

14. Tire heating press, characterized in that it has at least one loading and / or unloading device (14) according to claim 13.

15. A method for handling tires comprising at least the following steps: Picking up a green tyre or a vulcanised tyre using a loading and / or unloading device (14), Swinging into a tire heating press and depositing the green tire or Swinging out of a tire heating press and depositing the vulcanized tire, wherein a loading and / or unloading device (14) with a pivot drive (1) according to claim 13 is used.

16. A method for handling tires according to claim 15, characterized in that the linear drive (2) of the pivot drive (1) is moved at a constant speed.

17. A method for handling tires according to claim 16, characterized in that by the linear movement of the drive element (10) of the linear drive (2) at least one sliding element (6) is moved by a guide (5) in such a way that a rotatable element is thereby rotated about the axis of rotation (XC) of the pivot drive (1).

18. A method for handling tires according to one of claims 15 to 17, characterized in that a movement profile of the rotational movement is realized with at least one linear region in which no rotational movement takes place.

19. A method for handling tires according to claim 18, characterized in that a movement profile of the rotational movement is realized with at least four regions, each with associated rotational speeds, wherein two regions represent end regions in which no rotational movement takes place, and two regions represent transition regions in which the speed of the rotational movement is uniformly increased and / or decreased.

0. A method for handling tires according to claim 19, characterized in that a movement profile of the rotational movement is realized with at least five regions, each with associated rotational speeds, two regions representing end regions in which no rotational movement takes place, and two regions representing transition regions in which the speed of the rotational movement is uniformly increased and / or decreased, and one region having a constant rotational speed not equal to 0.

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