JP2013018274A - Method and device for gripping annular body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate reduction in size of a gripping device 22 while having a large radial direction moving amount of a gripping body 30.SOLUTION: Gripping bodies 30 are moved in radial directions by rocking a pair of outer links 37 separated from each other as they go toward a radial direction inner side and a pair of inner links 38 coming close to each other as they go toward the radial direction inner side, which constitute respective moving unit 32, by a driving unit 58 while holding line symmetrical relation relative to each radial line L. Accordingly, any portion of the moving unit 32 does not protrude outward from the ring body 27, and the gripping device 22 is made compact. Further, since the outer and inner links 37, 38 exhibiting a rhombus shape are deformed so as to expand and contract in the radial direction, the large radial direction moving amount of the gripping body 30 is obtained.

Description

    The present invention relates to an annular body gripping method and apparatus for gripping an annular body such as a tire from the outside.

    As a conventional annular body gripping device, for example, a device described in Patent Document 1 below is known.

JP 2004-351572 A

  This is provided as an annular fixing ring and an annular body provided at the inner side in the radial direction of the fixing ring, spaced apart in the circumferential direction, and disposed at the center of the fixing ring when moved inward in the radial direction. A plurality of gripping members that grip the tire from the outside, and a plurality of gripping members that are provided between the fixing ring and each gripping member, extend along a radial line with respect to the fixing ring, and are spaced apart in the circumferential direction. A movable member having a movable member supported by each of the fixed members so as to be movable in a radial direction and having the gripping member attached to an inner end thereof, and applying a radial movement force to the movable member And a driving means for moving the gripping member in the radial direction.

    However, in such a conventional gripping device, the radial length of the movable member is set so that the annular body can be gripped from the outside even when the diameter of the annular body (tire) changes greatly. Although it is much larger than the width (circumferential distance) of the fixed ring, when the gripping member moves to the standby position at the outer limit in the radial direction, the radially outer portion of the movable member is separated from the outer periphery of the fixed ring. It protrudes greatly outside. As a result, the gripping device is increased in size in the width direction (the extending direction of the horizontal line perpendicular to the central axis of the fixing ring), thereby avoiding interference between the movable member and surrounding equipment when the gripping device is moved. There was a problem that it was necessary to secure a wide space around the gripping device.

  An object of the present invention is to provide an annular body gripping method and apparatus which can easily reduce the size of the gripping apparatus while making the radial movement amount of the gripping body a large value.

    The purpose of this is to firstly provide an annular ring body and a radially inner side of the ring body, arranged apart from each other in the circumferential direction, and moved to the center of the ring body when moved inward in the radial direction. A step of disposing the annular body at the center of a gripping device including a plurality of gripping bodies for gripping the disposed annular body from the outside; and a radially outer side provided between the ring body and each gripping body. A pair of isometric outer links, the ends of which are connected to the ring body and extend away from each other toward the radially inner side, and the radially inner ends of the outer links in the radial direction The outer end portion is connected and has at least a pair of isometric inner links that extend to approach each other toward the radially inner side, and the gripping body is connected to the radially inner end portion Outer phosphorus of multiple moving means A swinging force is applied from the driving means to the outer link and the inner link is swung while maintaining a line-symmetric relationship with respect to the radial line of the ring body, thereby moving the gripping body inward in the radial direction. It can be achieved by a method of gripping an annular body including a step of gripping the annular body from the outside at a plurality of locations by the gripping body.

  Second, an annular ring body and an annular body provided at the inner side in the radial direction of the ring body and spaced apart from each other in the circumferential direction are arranged at the center of the ring body when moved inward in the radial direction. A step of disposing an annular body at the center of a gripping device having a plurality of gripping bodies gripped from the outside; and a ring body and each gripping body, each having a radially outer end portion provided in the ring body A swingable first link connected to the ring body and a radially outer end portion connected to the ring body in a state in which the radially outer end portion can approach and separate from the radially outer end portion of the first link, At least a second swayable link that intersects the radially central portion of the first link and is connected to each other by a pin at the intersecting position and is the same length as the first link, and is provided at the radially inner end. A plurality of transfers to which the gripping body is connected. By applying a driving force from the driving means to the first or second link of the means, and swinging the first and second links in the opposite direction about the pin by the same angle with respect to the radial line of the ring body, This can be achieved by a method of gripping an annular body including a step of moving the gripping body radially inward and gripping the annular body at a plurality of locations from the outside by the gripping body.

  Thirdly, an annular ring body and an annular body provided at the inner side in the radial direction of the ring body and arranged away from each other in the circumferential direction and when moved inward in the radial direction A plurality of gripping bodies that are gripped from the outside and provided between the ring body and each gripping body, and radially outer end portions are connected to the ring body and extend so as to be separated from each other toward the radially inner side. And a pair of swingable outer links having the same length, and a pair of radially outer ends connected to the radially inner ends of the outer links and extending closer to each other toward the radially inner side. A plurality of moving means having at least a swingable inner link having the same length, the gripping body being connected to an inner end portion in the radial direction, and applying a driving force to the outer link of the moving means, the outer link And the inner link This can be achieved by an annular body gripping device provided with driving means for moving the gripping body in the radial direction by swinging while maintaining a line-symmetrical relationship with respect to the radial line of the ring body. .

  Fourth, an annular ring body and an annular body disposed at the inner side in the radial direction of the ring body and spaced apart from each other in the circumferential direction and when moved inward in the radial direction, A plurality of gripping bodies gripped from the outside, a swingable first link provided between the ring body and each gripping body and having a radially outer end connected to the ring body, and a radial direction The outer end portion is connected to the ring body in a state where the outer end portion can approach and separate from the radial outer end portion of the first link, while the radial central portion intersects the radial central portion of the first link, and the intersection position A plurality of moving means connected to each other by pins and having at least a swingable second link having the same length as the first link, the gripping body being connected to a radially inner end portion; Or apply driving force to the second link An annular body provided with driving means for moving the gripping body in the radial direction by swinging the first and second links in the opposite direction about the pin by the same angle with respect to the radial line of the ring body This can be achieved with a gripping device.

  In the first and third aspects of the invention, a pair of outer links whose outer ends in the radial direction are connected to the ring body and are separated from each other toward the inner side in the radial direction, and the outer ends in the radial direction are the radii of the outer links. The outer and inner links of the plurality of moving means having at least inner links that are connected to the inner end portion in the direction and approach each other toward the inner side in the radial direction while maintaining a symmetrical relationship with the radial line by the driving means. Since the gripping body is moved in the radial direction by swinging, no part of the moving means protrudes outward from the ring body, particularly outward in the width direction. As a result, the gripping device can be reduced in size. can do. Moreover, since the outer and inner links extend as described above and have a rhombus shape as a whole, by deforming this rhombus and expanding and contracting it in the radial direction, the amount of radial movement of the gripping body can be easily increased to a large value. can do.

  In the inventions according to the second and fourth aspects, the first link having the radially outer end connected to the ring body, and the radially outer end approaching the radially outer end of the first link. The moving means having at least a second link connected to the ring body in a separable manner and having a radial central portion intersecting the radial central portion of the first link and connected to each other by a pin at the intersecting position. A driving force is applied from the driving means to the first or second link, and the first and second links are swung in the opposite direction by the same angle with respect to the radial line of the ring body, thereby moving the gripping body in the radial direction. Since it is made to move, neither part of the moving means protrudes from the ring body to the outside, particularly the outside in the width direction. As a result, the gripping device can be made compact. In addition, as described above, the first and second links are connected by pins while intersecting at the central portion in the radial direction, and have an X shape as a whole. Therefore, by deforming the X shape and expanding and contracting it in the radial direction, The amount of movement of the gripper in the radial direction can be easily set to a large value.

  Further, according to the fifth aspect of the present invention, it is possible to easily prevent a situation where the inner ends in the radial direction of the outer links of the adjacent moving means interfere when the outer links are greatly swung in the expanding direction. can do. Furthermore, if it comprises as described in Claim 6, 7, the transmission path | route of a driving force becomes simple and can reduce a manufacturing cost. According to the eighth aspect of the invention, the gripping body can be gripped from the outside while simultaneously contacting the annular body, and the gripping of the annular body by the gripping body is stabilized. Further, according to the ninth aspect of the present invention, even when the radius of curvature of the inner periphery of the gripping body and the radius of the annular body to be gripped are greatly different, the gripping body (bridge plate) and the annular body have a wide range during gripping. And the gripping of the annular body is stabilized.

It is a partially broken front view which shows Embodiment 1 of this invention. It is a partially broken side view of a holding device. It is side surface sectional drawing of the holding | gripping apparatus upper part when an outer side and an inner side link are shrink | contracting. FIG. 4 is a cross-sectional view taken along the arrow I-I in FIG. 3. It is a partially broken side view of the gripping device showing Embodiment 2 of the present invention, the right half shows when the moving means is extended, and the left half shows when it is contracted. It is a partially broken side view which shows one moving means. It is a side view of one moving means which shows Embodiment 3 of this invention. It is a side view of one moving means which shows Embodiment 4 of this invention. It is a side view of one moving means which shows Embodiment 5 of this invention. It is a side view of the holding body which has a bridging plate which shows Embodiment 6 of this invention. It is II-II arrow sectional drawing of FIG. It is sectional drawing which shows the other example of a bridge plate.

Embodiment 1 of the present invention will be described below with reference to the drawings.
1 and 2, 11 is a tire molding machine capable of molding an aircraft green tire G as an annular body having a large diameter, for example, from a small diameter (such as a Cessna machine) to a large diameter (such as a jumbo jet). The tire molding machine 11 includes a drive unit 13 installed on the floor 12, a horizontal main shaft 14 that is supported by the drive unit 13 in a cantilever manner, and rotates when a drive force is applied from the drive unit 13. And an expandable / contractible molding drum 16 on which the green tire G bulged in a substantially arc-shaped cross section that is formed on the outer side is supported.

  Reference numeral 19 denotes a pair of guide rails laid on the floor surface 12 immediately below the main shaft 14 and extending in parallel with the main shaft 14, and these guide rails 19 have a plurality of slide bearings 21 attached to the lower surface of the base 20. Are slidably engaged. The base 20 moves along the guide rail 19 while being guided by the guide rail 19 when a driving force is applied from a driving mechanism (not shown) such as a cylinder, a screw mechanism, a rack and pinion mechanism, or the like. (Reciprocating). A gripping device 22 is mounted on the base 20, and the gripping device 22 can grip the green tire G as the annular body at a plurality of locations from the outside in the radial direction. When the gripping device 22 grips the green tire G from the outside and the base 20 is moved by the drive mechanism, the green tire G is transported in the axial direction while being gripped by the gripping device 22.

  1 to 4, the gripping device 22 has a pair of parallel support rings 25 whose lower ends are fixed to the base 20, and these support rings 25 are coaxial with the main shaft 14. 26 is a plurality of connecting plates installed between the support rings 25 and arranged at equal distances in the circumferential direction. These connecting plates 26 are supported at both ends by being fixed to the pair of support rings 25, respectively. Rings 25 are connected to each other. The pair of support rings 25 and the plurality of connecting plates 26 described above constitute an annular ring body 27 that is coaxial with the main shaft 14 as a whole. 30 is a ring body 27 provided in the radial direction of the ring body 27, extending in the circumferential direction and having a substantially rectangular plate shape, here are 10 grip bodies made of rigid bodies, and these grip bodies 30 are the same On the circle, they are arranged equidistantly in the circumferential direction, and their inner circumference is formed by an arc surface having the same radius of curvature as the outer circumference of the green tire G. In addition, when the diameter of the green tire G gripped by the gripping body 30 is greatly changed, it is preferable to replace the gripping body 30 with a tire whose inner periphery is suitable for the outer periphery of the green tire G.

  When the grip bodies 30 move inward in the radial direction, the green tires G arranged at the center of the ring body 27 can be gripped from the outside. Reference numeral 32 denotes a plurality of (the same number as the gripping bodies 30) moving means provided between the ring body 27 and each gripping body 30, and each moving means 32 is a ring that passes through the center in the circumferential direction of the gripping body 30. The body 27 has a pair (10 in total) of rotating shafts 33 installed on the radially outer side of the ring body 27 on both sides in the circumferential direction of the radial line L of the body 27. Further, both end portions in the axial direction are rotatably supported by the ring body 27 (support ring 25) via bearings 34.

  Reference numeral 37 denotes a plurality of (same number pairs as the rotating shaft 33) linearly extending outer links whose outer ends in the radial direction are fixed to the rotating shaft 33. As a result, these outer links 37 are outside the radial direction. The end portion is rotatably connected to the ring body 27 via the rotating shaft 33, and can swing around the radially outer end portion, that is, the rotating shaft 33 as a swing center. . These swingable outer links 37 extend so as to be separated from each other as they go from the radially outer side to the radially inner side, that is, to expand toward the radially inner side. Reference numeral 38 denotes a plurality (same number of pairs as the outer links 37) of linearly extending inner links provided on the inner side in the radial direction of each outer link 37, and the radially outer ends of the inner links 38 forming each pair; The radially inner end of the outer link 37 corresponding to the link 38 is pivotally connected by a pin 39 extending in the axial direction of the main shaft 14, so that the inner link 38 is radially outer end, i.e. The pin 39 can be swung around the swing center.

  Here, the corresponding gripping bodies 30 are rotatably connected to the inner end portions in the radial direction of the paired inner links 38 via the paired pins 41 extending in parallel with the pins 39, respectively. As a result, these inner links 38 extend so as to approach each other from the radially outer side toward the radially inner side, that is, close toward the radially inner side. Here, the distance between the central axes (circumferential distance) of the rotating shaft 33 that forms a pair of each moving means 32 is the distance between the central axes (circumferential distance) of the pair of pins 41 that are supported by the gripping body 30. Further, the length of the outer link 37 forming a pair of each moving means 32, here, the distance from the central axis of the rotating shaft 33 to the central axis of the pin 39 is equal to each other, The length of the inner link 38 forming a pair of the moving means 32, here, the distance from the central axis of the pin 39 to the central axis of the pin 41 is equal to each other and equal to the length of the outer link 37. As a result, the outer link 37 and the inner link 38 of each moving means 32 have a diamond shape as a whole. In the present invention, the length of the outer link 37 may be different from the length of the inner link 38.

  In this way, each of the plurality of moving means 32 is a pair of swingable outer links each having an outer end in the radial direction coupled to the ring body 27 and extending away from each other toward the inner side in the radial direction. 37 and a pair of swingable inner links 38 having a radially outer end coupled to the radially inner end of the outer link 37 and extending closer to each other toward the radially inner side. It has at least a rotation shaft 33 here, and the gripping body 30 is connected to the radially inner ends of these moving means 32. An outer gear 44 of the same pitch circle that meshes with each other is fixed to an axially central portion of the rotating shaft 33 that forms a pair of each moving means 32. As a result, the outer link 37 that forms the pair is reversely moved by the outer gear 44 in the opposite direction Can be swung by the same angle.

  A fluid cylinder 48 is supported on the top of the ring body 27 via a bracket 47, and a radially outer end of a transmission arm 50 is connected to a tip of a piston rod 49 of the fluid cylinder 48 via a pin 51. The inner end of the transmission arm 50 in the radial direction is connected to one of the pair of rotating shafts 33 that are closest to the piston rod 49, here, the rotating shaft 33a disposed on one side in the circumferential direction. It is fixed. Here, an air cylinder, a hydraulic servo cylinder or the like can be used as the fluid cylinder 48, and a brake mechanism is provided to restrict the movement of the moving means 32 when the gripping body 30 grips the green tire G from the outside. Is used. In the present invention, instead of the fluid cylinder 48, a ball screw screwed into the transmission arm 50 and a drive motor for rotating the ball screw can be used.

  Further, among the plurality of pairs of rotating shafts 33, the rotating shaft 33a disposed on one side in the circumferential direction protrudes from the supporting ring 25a on one side in the axial direction toward one side in the axial direction. A drive pulley 53 having outer teeth formed on the outer periphery is fixed to one axial end portion of the rotating shaft 33a, and a ring on one side in the circumferential direction and one ring on the other side in the circumferential direction from the drive pulley 53 A guide pulley 54 and a guide pulley 55 are rotatably supported on the body 27, respectively. 56 is an endless timing belt. This timing belt 56 is wound around the guide pulley 54, the drive pulley 53, and the guide pulley 55 corresponding to each moving means 32 one after another in the above order, and the drive pulley 53 has a large contact angle. I'm engaged.

  As a result, when the piston rod 49 protrudes or retracts by the operation of the fluid cylinder 48 and the rotation shaft 33a to which the transmission arm 50 is fixed rotates, the rotation of the rotation shaft 33a is the timing belt 56. And is transmitted to the remaining rotating shafts 33a to rotate all the rotating shafts 33a by the same angle in the same direction. At this time, the rotation described above is transmitted from the external gear 44a of the rotation shaft 33a disposed on the circumferential side to the external gear 44b of the rotation shaft 33b disposed on the other side in the circumferential direction. The rotation shaft 33b and the external gear 44b are rotated synchronously by the same angle in the opposite direction to the rotation shaft 33a and the external gear 44a.

  As a result, a driving force (swinging force) is applied to the outer and inner links 37 and 38 of each moving means 32 from the rotating shafts 33a and 33b, whereby the outer and inner links 37 and 38 are connected to the ring body 27. While maintaining a line-symmetrical relationship with respect to the radial line L, the rotation shaft 33 that is a connecting portion between the ring body 27 and the outer link 37 and a pin that is a connecting portion between the inner link 38 and the gripping body 30 41. The rhombus formed by the outer and inner links 37, 38 of each moving means 32 expands and contracts in the radial direction, and the gripping body 30 translates a long distance along the radial line L. it can.

  The external gear 44, the fluid cylinder 48, the transmission arm 50, the drive pulley 53, the guide pulleys 54 and 55, and the timing belt 56 described above apply a driving force to the outer link 37 of each moving means 32, and the outer link 37. The inner link 38 is swung while maintaining a symmetrical relationship with respect to the radial line L of the ring body 27, thereby constituting driving means 58 for moving the grip body 30 in the radial direction. As described above, when the driving means 58 applies the driving force to the moving means 32 at the same time so that all the moving means 32 are operated synchronously, the gripping body 30 is brought into contact with the green tire G at the same time. Therefore, the gripping of the green tire G by the gripping body 30 can be stabilized.

  Here, if the timing belt 56 is used as a part of the driving means 58 as described above, the entire apparatus can be reduced in weight and cost can be reduced. In the present invention, as the driving means, a plurality of pairs in which the radially outer end portions are connected to the radially outer portions of the outer links 37 of the moving means 32 and the radially inner end portions intersecting each other are connected by pins. You may make it comprise from this link and the moving mechanism which synchronously moves the said pin along the guide groove extended in a radial direction.

  Here, when gripping green tires G having greatly different diameters with the same gripping device 22, it is necessary to increase the amount of movement of the gripping body 30 in the radial direction. In this case, each moving means 32 is configured. It is necessary to increase the length of the outer and inner links 37 and 38. However, when the lengths of the outer and inner links 37 and 38 are increased in this way, the outer and inner links 37 and 38 have a larger inclination angle with respect to the radial line L, that is, the rhombus contracts. When the links 37 and 38 are swung, the radially inner end of the paired outer link 37 and the radially outer end of the inner link 38 are greatly separated in the circumferential direction, and the radially inner ends of the adjacent outer links 37 are separated. There is a possibility that the portions and the radially outer end portions of the inner link 38 interfere with each other.

  Therefore, in this embodiment, the outer side link 37a on one side in the circumferential direction of each moving means 32 is fixed to the rotating shaft 33a on the one side in the axial direction from the external gear 44a, while the outer side link 37b on the other side in the circumferential direction is fixed. It is fixed to the rotating shaft 33b on the other side in the axial direction from the external gear 44b, whereby one outer link 37a and the remaining other outer link 37b in each moving means 32 are connected to the center axis of oscillation of the outer links 37 ( The rotation shaft 33 is arranged so as to be shifted in the direction of the central axis). By doing so, it is possible to prevent the radially inner ends of the outer links 37 of the adjacent moving means 32 from interfering with each other when the outer links 37 are largely swung in the expanding direction. In each moving means 32, the inner link 38a is disposed on the other side in the axial direction of the outer link 37a, while the inner link 38b is disposed on the other side in the axial direction of the outer link 37b as well as the inner link 38a. Interference between the inner links 38a and 38b can also be reliably prevented.

  The outer links 37a and 37b and the inner links 38a and 38b may have an axial arrangement relationship opposite to that described above. Further, the outer links 37a and 37b of each moving means 32 are arranged at the same axial position, and the outer links 37 of the adjacent moving means 32 are alternately arranged by shifting in the direction of the swinging central axis of the outer links 37. You can also. Further, in this embodiment, as described above, a driving force is applied to one of the moving units 32 from the driving unit 58, here the outer link 37a on the circumferential side, and the driving force is applied. The driving force is transmitted from the outer link 37a to the other outer link 37b through the external gear 44 that meshes with each other, and the pair of outer links 37 are synchronously swung. The transmission path can be simplified, and the production cost can be reduced.

Next, the operation of the first embodiment will be described.
Now, assume that the molded green tire G is supported on the outside of the molding drum 16, while the gripping device 22 is waiting at a standby position separated from the molding drum 16. At this time, since the piston rod 49 of the fluid cylinder 48 constituting the driving means 58 protrudes, any outer link 37 is greatly expanded as shown in FIG. 3 by the timing belt 56 and the external gear 44 meshing with each other. The inner links 38 are also largely swung due to the swinging of the outer links 37. As a result, the rhombus formed by the outer and inner links 37 and 38 is deformed so as to be crushed in the radial direction, and the gripping body 30 connected to the radially inner end of each moving means 32 moves to the radially outer limit. Has stopped.

  Next, the gripping device 22 is moved along the guide rail 19 by the drive mechanism until the gripping device 22 surrounds the green tire G from the outside in the radial direction, that is, to a position overlapping the green tire G. Is arranged at the center of the ring body 27. Next, when the fluid cylinder 48 of the driving means 58 is actuated to retract the piston rod 49, the rotation shaft 33a is rotated by the transmission arm 50, but the rotation of the rotation shaft 33a remains through the timing belt 56. The rotation shaft 33a of each moving means 32 is synchronized and rotated counterclockwise in FIG. Such rotation of the rotating shaft 33a of each moving means 32 is transmitted to the rotating shaft 33b of each moving means 32 via the external gear 44 meshing with each other, and these rotating shafts 33b are transmitted to the rotating shaft. It is rotated by the same angle in the opposite direction to 33a.

  When a driving force (swinging force) is applied from the driving means 58 to the outer link 37 of each moving means 32 in this way, the outer link 37 swings by the same angle so as to close around the rotating shaft 33, Further, the inner link 38 also swings by the same angle so as to close around the pin 41 by the swinging force from the outer link 37. At this time, since these outer and inner links 37 and 38 swing while maintaining a line-symmetrical relationship with respect to the radial line L of the ring body 27, the outer and inner links 37 and 38 of each moving means 32 are formed. The rhombus extends in the radial direction, and each gripping body 30 is synchronized with no problem even at a long distance radially inward along the radial line L while maintaining a state substantially parallel to the outer periphery of the green tire G. Translate.

  When the inner periphery of all the gripping bodies 30 comes into contact with the outer periphery of the green tire G and the green tire G is gripped by the gripping device 22 (all the gripping bodies 30) from the outside at appropriate pressures, While operating the brake mechanism of the cylinder 48 to hold the gripping body 30 in the gripping position, the diameter of the forming drum 16 is reduced, and the green tire G is transferred from the forming drum 16 to the gripping device 22. The stop timing of the fluid cylinder 48 is changed corresponding to the change of the diameter of the green tire G. Thereafter, the gripping device 22 that grips the base 20 and the green tire G is moved along the guide rail 19 by the drive mechanism, and the green tire G is taken out from the molding drum 16.

  As described above, in this embodiment, the radially outer end portion is connected to the ring body 27, the pair of outer links 37 that are separated from each other toward the radially inner side, and the radially outer end portion is the outer link 37. The outer and inner links 37, 38 of the plurality of moving means 32 are connected to the radially inner ends of the plurality of moving means 32 and have at least a pair of inner links 38 that approach each other as they go radially inward. Since the holding body 30 is moved in the radial direction by oscillating while maintaining a line-symmetric relationship with respect to each other, any part of the moving means 32 is located outside the ring body 27, particularly outside in the width direction. As a result, the gripping device 22 can be reduced in size.

  In addition, since the outer and inner links 37 and 38 extend as described above and have a rhombus shape as a whole, the amount of radial movement of the gripping body 30 can be easily increased by deforming the rhombus and expanding and contracting it in the radial direction. Therefore, the green tires G having greatly different diameters can be gripped without any problem. Further, in this embodiment, the outer end portion in the radial direction of the outer link 37 does not move while sliding, so that the structure becomes simple and the green tire G can be gripped stably from the outside.

    Next, a second embodiment of the present invention will be described with reference to FIGS. Also in this embodiment, as in the first embodiment, the gripping device 60 is provided on the inner side in the radial direction of the annular ring body 27 and the ring body 27, and is disposed in the circumferential direction, and is arranged radially inward. A plurality of gripping bodies 61 for gripping the green tire G disposed at the center of the ring body 27 from the outside, and between the ring body 27 and each gripping body 61, A plurality of moving means 62 connected to the gripping body 61 at the end are provided. Here, each moving means 62 of this embodiment has a first link 63 that is inclined with respect to the radial line L of the ring body 27, and the radially outer ends of these first links 63 are connected to the ring body 27. The first link 63 is swingable about the pin 64 as a result of being pivotably connected to the ring body 27 via the attached pin 64.

  67 is a second link in which a radially outer end portion is inserted into a linearly extending guide groove 68 formed on the ring body 27 on the other circumferential side from each pin 64. These second links 67 are radially outward. The end portion can move along the guide groove 68 in the guide groove 68. As a result, the second link 67 is swingably connected to the ring body 27 in a state where the outer end portion in the radial direction of the second link 67 can approach and separate from the outer end portion of the first link 63 in the radial direction. Here, the guide groove 68 extends perpendicular to the radial line L of the ring body 27 passing through the center in the circumferential direction of the grip body 61. The second link 67 is equal in length to the first link 63, and is inclined at the same angle as the first link 63 in the opposite direction to the first link 63 with respect to the radial line L of the ring body 27. Therefore, the first link 63 and the second link 67 in each moving means 62 intersect with each other at the radial center (longitudinal center), but the first and second links 63 and 67 at these intersecting positions A pin 69 extending in parallel with the pin 64 is inserted, and as a result, the first and second links 63 and 67 are rotatably connected to each other by the pin 69 at the radial center.

  The first and second links 63 and 67 and the pin 69 described above constitute a link mechanism 71 combined in an X shape as a whole, and the moving means 62 has at least one such link mechanism 71. . In this embodiment, each moving means 62 has two link mechanisms 72 and 73 that are substantially the same as the link mechanism 71 on the radially inner side of the link mechanism 71, and is composed of three link mechanisms as a whole. Has been. Here, the first link 63 of the link mechanism 72 has a radially outer end portion rotatably connected to a radially inner end portion of the second link 67 of the link mechanism 71 via a pin 75, while the link The second link 67 of the mechanism 72 has a radially outer end connected to a radially inner end of the first link 63 of the link mechanism 71 via a pin 76 so as to be rotatable. The radial centers of the first and second links 63 and 67 constituting the link mechanism 72 intersect with each other, and are connected to each other through a pin 69 at the intersecting position.

  The first link 63 of the link mechanism 73 has a radially outer end portion rotatably connected to a radially inner end portion of the second link 67 of the link mechanism 72 via a pin 79. The inner end portion is connected to the gripping body 61 by being movably inserted into a guide groove 80 formed on the other circumferential side of the gripping body 61 and extending parallel to the guide groove 68. On the other hand, the second link 67 of the link mechanism 73 has a radially outer end portion rotatably connected to a radially inner end portion of the first link 63 of the link mechanism 72 via a pin 81. The portion is rotatably connected to one end portion in the circumferential direction of the gripping body 61 via a pin 82. The radial centers of the first and second links 63 and 67 constituting the link mechanism 73 intersect with each other, and are connected to each other via a pin 69 at the intersecting position. Thus, in this embodiment, as each moving means 62, a storage tong mechanism constituted by three link mechanisms 71, 72, 73 having an X shape is used. If such a ledge tong mechanism is used, the gripping body 61 can be moved in the radial direction over a long distance even if the circumferential width of each moving means 62 is narrow. As a result, the gripping body 61 and the moving means 62 The number of installations can be easily increased, and the gripping of the green tire G can be stabilized.

  Then, a driving force is applied to each moving means 62, and the first link 63 of the link mechanism 71 is inclined with respect to the radial line L so that the inclination angle becomes small, or the radial direction of the second link 67 When the outer end moves so as to approach the radially outer end (pin 64) of the first link 63, the first and second links 63, 67 of the link mechanisms 71, 72, 73 are synchronized around the pin 69, respectively. Then, it swings in the opposite direction so as to approach the extending direction of the radial line L by the same angle, so that the link mechanisms 71, 72, 73 extend in the radial direction, and the gripping body 61 is synchronized inward in the radial direction. Move. Reference numeral 84 denotes a support gear composed of a plurality of, here four, external gears rotatably supported by the ring body 27, and these support gears 84 are arranged apart from each other in the circumferential direction. 85 is a large gear which is slightly smaller in diameter than the ring body 27 and has a ring shape coaxial with the ring body 27, and the external teeth of the large gear 85 are engaged with all the support gears 84, so that the support gears 84 from the outside. It is rotatably supported.

  Of the support gear 84, the rotational drive force is transmitted to the support gear 84 installed at the top of the ring body 27 via a belt 88 from a torque controllable drive motor 87 attached to the top of the ring body 27. As a result, the large gear 85 can be rotated by receiving a driving force from the support gear 84. An external gear 90 that meshes with an external tooth of a large gear 85 is fixed to the pin 64 that constitutes each moving means 62.As a result, when the large gear 85 rotates, the external gear 90, The rotational force is transmitted to the pin 64, and the first link 63 of each moving means 62 swings around the radially outer end (pin 64).

  The large gear 85, the drive motor 87, the belt 88, and the external gear 90 described above apply a driving force to the first link 63 in the link mechanism 71 of each moving means 62, and the radial line L of the ring body 27 is applied. On the other hand, the first and second links 63, 67 of the link mechanisms 71, 72, 73 are swung in the opposite direction by the same angle to constitute the driving means 91 for moving the grip body 61 in the radial direction. Here, it is preferable to use the drive motor 87 capable of torque control as the drive source of the drive means 91 as described above, because the pressing force of the gripping body 61 against the green tire G can be appropriately controlled. The driving unit 58 of the first embodiment described above may be used as a driving unit that applies a driving force to the moving unit 62 of the second embodiment. Alternatively, the driving unit 91 of the second embodiment may be used as the moving unit of the first embodiment. You may make it use as a drive means to give a drive force to the means 32. FIG.

  Here, as described above, when driving force is applied from the driving means 91 to the first link 63 in the link mechanism 71 of each moving means 62 to swing, the second link 67 in the link mechanism 71 becomes the first link 63. In this way, the transmission path of the driving force is simplified, and the manufacturing cost can be reduced. In the present invention, by applying a driving force (moving force that moves along the guide groove 68) from the driving unit to the radially outer end of the second link 67 in the link mechanism 71 of each moving unit 62, The first and second links 63 and 67 of the link mechanisms 71, 72, and 73 are swung in the opposite directions by the same angle with respect to the radial line L of the ring body 27 so that the grip body 61 is moved in the radial direction. It may be.

Next, the operation of the second embodiment will be described.
When the gripping device 60 grips the green tire G from the outside, the gripping device 60 is moved in the axial direction until the ring body 27 is positioned so as to surround the green tire G from the outside in the radial direction. Is arranged at the center of the ring body 27. Next, the large gear 85 is rotated by operating the drive motor 87 of the driving means 91. The rotational driving force of the large gear 85 is transmitted through the external gear 90 and the pin 64 in the link mechanism 71 of each moving means 62. The first link 63 is inclined so that the inclination angle with respect to the radial line L becomes small around the radially outer end (pin 64). As a result, the first and second links 63 and 67 of the link mechanisms 71, 72, and 73 extend in the radial direction L by the same angle in synchronization with the radial line L of the ring body 27 around the pin 69. As a result, the link mechanisms 71, 72, and 73 are crushed in the circumferential direction to extend in the radial direction, and the gripping body 61 is substantially parallel to the outer periphery of the green tire G. Even if it is a long distance while maintaining a simple state, it translates in synchronism radially inward.

  When the inner periphery of all gripping bodies 61 abuts on the outer periphery of the green tire G and the green tire G is gripped from the outside at a plurality of locations by the gripping device 60 (all gripping bodies 61), Stop operation. The stop timing of the drive motor 87 is changed corresponding to the change of the diameter of the green tire G. In the present invention, the first link 63 and the second link 67 are crossed at a radial center part slightly away from the radial center to the radial inner side or the radial outer side, and at the crossing position, they are mutually connected by pins. You may make it connect.

  Further, in this embodiment, the first link 63 whose outer end portion in the radial direction is connected to the ring body 27, and the outer end portion in the radial direction can approach and separate from the outer end portion in the radial direction of the first link 63. Of the moving means 62 having at least a second link 67 connected to the ring body 27 in the state and having a radially central portion intersecting the radially central portion of the first link 63 and connected to each other by a pin 69 at the intersecting position. A driving force is applied from the driving means 91 to the first link 63 or the second link 67, and the first and second links 63 and 67 are swung in the opposite direction with respect to the radial line L of the ring body 27 by the same angle. As a result, the gripping body 61 is moved in the radial direction, so that none of the moving means 62 protrudes outward from the ring body 27, in particular, outward in the width direction. Can be made small. Moreover, as described above, the first and second links 63 and 67 are connected by the pin 69 while intersecting at the central portion in the radial direction, and have an X shape as a whole. By extending and contracting, the amount of movement in the radial direction of the gripping body 61 can be easily increased. Other configurations and operations are the same as those of the first embodiment.

    FIG. 7 is a diagram showing Embodiment 3 of the present invention. In the first embodiment, each moving means 32 is composed of one link mechanism 93 including a pair of outer links 37 and inner links 38. In this embodiment, the radius of the link mechanism 93 as described above is used. A link mechanism 94 substantially the same as the link mechanism 93 is installed on the inner side in the direction. At this time, since the gripping body 30 is connected to the radially inner end of the inner link 38 constituting the link mechanism 94, the outer link 37 constituting the link mechanism 94 is on the extension line of the inner link 38 constituting the link mechanism 93. And the radially outer end of the outer link 37 constituting the link mechanism 94 and the radially inner end of the inner link 38 constituting the link mechanism 93 are integrally connected by a connecting member 95, A pair of long links 96 are formed. The pair of long links 96 intersect with each other at the center in the radial direction, and are connected to each other by pins 97 so as to be rotatable at the intersecting positions. In this embodiment, each moving means 32 is composed of two link mechanisms 93 and 94, but may be composed of three or more link mechanisms. Other configurations and operations are the same as those in the first embodiment.

    FIG. 8 is a diagram showing Embodiment 4 of the present invention. In the above-described second embodiment, each moving means 62 is composed of three link mechanisms 71, 72, 73 having first and second links 63, 67, respectively. It consists of 100 link mechanisms. That is, in this embodiment, the radially inner end of the first link 63 constituting the link mechanism 100 is movably inserted into the guide groove 80 formed on the other circumferential side of the gripping body 61. On the other hand, the inner end in the radial direction of the second link 67 constituting the link mechanism 100 is connected to one end in the circumferential direction of the holding body 61 through a pin 101 so as to be rotatable. . The first and second links 63 and 67 constituting the link mechanism 100 intersect with each other at the center in the radial direction, and are connected to each other so as to be rotatable by inserting a pin 102 at the intersecting position. In the present invention, each moving means 62 may be constituted by two link mechanisms, or may be constituted by four or more link mechanisms. Other configurations and operations are the same as those of the second embodiment.

    FIG. 9 is a diagram showing Embodiment 5 of the present invention. In this embodiment, each moving means 105 is composed of one link mechanism 100 described in the fourth embodiment and a pair of inner links 110 installed inside the link mechanism 100 in the radial direction. The grip body 30 is connected to the inner end of the inner link 110 in the radial direction. Here, the inner link 110 extends toward the inner side in the radial direction from the outer side in the radial direction, and the outer ends in the radial direction of the first and second links 63 and 67 constituting the link mechanism 100. A pin 111 is rotatably connected to the radially inner end. Other configurations and operations are the same as those in the first and fourth embodiments.

    10 and 11 are views showing Embodiment 6 of the present invention. In this embodiment, a storage groove 116 extending continuously in the circumferential direction is formed on the inner periphery of each gripping body 115, while the length of each storage groove 116 is longer than the circumferential length of the gripping body 115. The base end side of the thin plate-like bridging plate 117 that is long and has the same width as that of the storage groove 116 is stored. Then, both ends in the width direction of the portion (base end side) that overlaps with the grip body 115 by being stored in the storage groove 116 are welded to the grip body 115 (side wall of the storage groove 116), brazed, or the like. It is fixed. Here, the inner surface (radial inner surface) of the bridging plate 117 fixed to the grip body 115 is located on the same plane as the inner periphery of the grip body 115, and as a result, The inner end opening of the storage groove 116 is closed by the proximal end side of the bridging plate 117.

  Further, the thickness of the bridging plate 117 is 1/2 or less of the depth of the storage groove 116, and as a result, the gap between the bottom surface (radially outer side surface) of the storage groove 116 and the base end side of the bridging plate 117. An arcuate gap 118 having a height equal to or greater than the thickness of the bridging plate 117 is formed. Further, since the bridging plate 117 is longer than the circumferential length of the storage groove 116 as described above, the distal end side (free end side) thereof is the circumferential direction from one circumferential end of the gripping body 115a, here the circumferential one side end. Although projecting toward one side (one side in the circumferential direction), the leading end side of the bridging plate 117 thus projecting from the gripping body 115a is disposed adjacent to one side in the circumferential direction (one side in the circumferential direction) from the gripping body 115a. It extends to the inner periphery of the gripping body 115b and is housed in the housing groove 116 (gap 118) of the gripping body 115b, whereby the bridging plate 117 of the part housed in the space 118 is arranged adjacently. It overlaps with the gripping body 115b.

  In the present invention, the bridging plate 117 is protruded toward the other circumferential side (one circumferential side) of the gripping body 115, and the leading end side of the bridging plate 117 is disposed adjacent to the other circumferential side. You may make it accommodate in the accommodation groove | channel 116 of 115. FIG. Here, the bridging plate 117 is made of stainless steel, spring steel or the like having high resistance to repeated bending, and as a result, it can be easily elastically deformed while having a long life. As a result, the diameter of the green tire G gripped by the gripping body 115 changes greatly, for example, from a small diameter indicated by a solid line to a large diameter indicated by a virtual line in FIG. Even when the radius of curvature and the radius of the gripped green tire G are greatly different, since the bridging plate 117 that is easily elastically deformed bridges between two adjacent gripping bodies 115, the green tire G On the outer periphery, not only both ends in the circumferential direction of each gripping body 115 but also a bridging plate 117 that bridges between the two adjacent gripping bodies 115, in particular, a region in the vicinity of one end in the circumferential direction of the gripping body 115 is wide. Will come in contact.

  As a result, when the green tire G is gripped, the gripping body 115, the bridging plate 117, and the green tire G come into contact in a wide range, and the gripping of the green tire G is stabilized. In the above-described embodiment, the bridging plate 117 is formed of a flat thin strip, and the tip side protruding from the gripping body 115 has a radius of curvature that is substantially the same as the maximum radius of the green tire G to be gripped. It is bent in a certain arc shape. Further, at least the leading end side of the bridging plate 117 protruding from the gripping body 115 may be bent so that the cross section has a wave shape, for example, a sine wave shape, in the axial direction of the ring body 17 as shown in FIG. In this way, the bridging plate 117 at the wavy portion can be easily deformed in the thickness direction, so that when the green tire G is gripped, it is deformed along the crown radius of the green tire G. Thus, the green tire G is brought into contact with the green tire G in a wide range, and the grip on the green tire G can be further stabilized.

  In the above-described embodiment, the gap 118 in which the distal end side of the adjacent bridging plate 117 is accommodated is provided between the bottom surface of the accommodating groove 116 of the gripper 115 and the proximal end side of the bridging plate 117. In the present invention, the bridging plate 117 is attached to the gripping body 115 in a state where the base end side of the bridging plate 117 is in contact with the bottom surface of the storage groove 116, and the adjacent bridging plate 117 is radially inward from the base end side of the bridging plate 117. Alternatively, the front end side of the bridge plate 117 may be formed with a gap, or the depth of the storage groove 116 may be the same as the thickness of the bridge plate 117 and the storage groove 116 may be blocked by the base end side of the bridge plate 117. The proximal end side inner surface (radial inner surface) of the bridging plate 117 may be brought into contact with the distal end side of the adjacent bridging plate 117. Other configurations and operations are the same as those of the first embodiment.

    In the above-described embodiment, the green tire G is an annular body. However, in the present invention, a cylindrical carcass band made of a carcass layer, a carcass layer in which both axial ends are folded around a bead, and the like. A cylindrical green case, a belt layer, a cylindrical belt / tread band around which a tread is wound, a vulcanized tire, an annular bead, or the like may be used as the annular body. Here, when the annular body is a soft carcass band, a suction pad that sucks and holds the carcass band from the outside by using a vacuum as a gripping body may be used. Further, the tire as the annular body may be a passenger tire, a heavy duty tire used for trucks and buses, and an off-road tire used for large construction vehicles.

  The present invention can be applied to the industrial field in which an annular body such as a tire is gripped from the outside.

22 ... Gripping device 27 ... Ring body
30… Grip body 32… Movement means
37… Outer link 38… Inner link
58 ... Drive means 60 ... Gripping device
61 ... Grasping body 62 ... Moving means
63 ... 1st link 67 ... 2nd link
69… Pin 91… Drive means
117 ... Bridge plate G ... Annular body L ... Radial line

Claims (9)

    Annular ring body, provided on the inner side in the radial direction of the ring body, spaced apart in the circumferential direction, and grips the annular body disposed at the center of the ring body from the outside when moved inward in the radial direction A step of disposing an annular body at a center portion of a gripping device including a plurality of gripping bodies, and a ring body and each gripping body, each of which is provided, and a radially outer end portion is connected to the ring body, A pair of isometric outer links that extend away from each other as they go radially inward, and a radially outer end connected to the radially inner end of the outer link, the radially inner end At least a pair of swingable inner links that extend to approach each other as they move toward the drive, and drive means on the outer links of a plurality of moving means having the gripping body connected to the radially inner end Swinging force from The gripping body is moved inward in the radial direction by swinging the outer link and the inner link while maintaining a line-symmetrical relationship with respect to the radial line of the ring body, and the annular body is moved by the gripping body. And a step of gripping at a plurality of locations from the outside.     Annular ring body, provided on the inner side in the radial direction of the ring body, spaced apart in the circumferential direction, and grips the annular body disposed at the center of the ring body from the outside when moved inward in the radial direction A step of disposing an annular body at a central portion of a gripping device including a plurality of gripping bodies, and a radially outer end portion connected to the ring body, provided between the ring body and each gripping body. The swingable first link and the radially outer end of the first link are connected to the ring body in a state where the radially outer end of the first link can approach and separate from the radially outer end of the first link. It has at least a second swayable link that intersects with the central portion in the radial direction and is connected to each other by a pin at the crossing position, and has the same length as the first link. Of multiple connected transportation means By applying a driving force from the driving means to one or the second link and swinging the first and second links in the opposite direction about the pin by the same angle with respect to the radial line of the ring body, And a method of gripping the annular body at a plurality of locations from the outside by the gripping body.     Annular ring body, provided on the inner side in the radial direction of the ring body, spaced apart in the circumferential direction, and grips the annular body disposed at the center of the ring body from the outside when moved inward in the radial direction A plurality of gripping bodies, a pair of etc. provided between the ring body and each gripping body, with radially outer ends connected to the ring body and extending away from each other toward the inner side in the radial direction A pair of isometric lengths that are swingable outer links and a radially outer end connected to a radially inner end of the outer links and extend closer to each other as they go radially inward A plurality of moving means having at least a swingable inner link, the gripping body being connected to the radially inner end, and a driving force is applied to the outer link of the moving means, and the outer link and the inner link are Ring body By swinging while maintaining the relationship of line symmetry with respect to a radial line, the annular body of the gripping device being characterized in that a driving means for moving the gripper in the radial direction.     Annular ring body, provided on the inner side in the radial direction of the ring body, spaced apart in the circumferential direction, and grips the annular body disposed at the center of the ring body from the outside when moved inward in the radial direction A plurality of gripping bodies, a swingable first link provided between the ring body and each gripping body and having a radially outer end connected to the ring body, and a radially outer end, While being connected to the ring body so as to be able to approach and separate from the radially outer end of the first link, the radially central portion intersects the radially central portion of the first link, and at the intersecting position, it is mutually connected by pins. A plurality of moving means having at least a swingable second link that is connected and is equal in length to the first link, the gripper being connected to a radially inner end, and the first or second link; A driving force is applied to the Driving means for moving the gripping body in the radial direction by swinging the first and second links in the opposite direction about the pin by the same angle with respect to the radial line of the gripping body. An annular body gripping device.     4. The annular body gripping device according to claim 3, wherein one outer link and the remaining other outer link in each of the moving means described above are arranged so as to be shifted in the direction of the oscillation center axis of these outer links.     A driving force is applied from the driving means to one of the outer links of each of the moving means, and the driving force is transmitted from the outer link to which the driving force is applied to the other outer link so that the pair of outer links are 6. The annular body gripping device according to claim 3 or 5, wherein the annular body is rocked synchronously.     5. The annular body according to claim 4, wherein the second link is caused to swing following the first link by applying a driving force to the first link of each moving means from the driving means and swinging. Gripping device.     The annular body gripping device according to any one of claims 3 to 7, wherein a driving force is simultaneously applied from the driving means to each moving means so that all the moving means are operated synchronously.     The annular gripping device according to any one of claims 3 to 8, wherein each gripping body is attached with an easily deformable bridging plate extending to the inner periphery of the gripping body disposed adjacent to one side in the circumferential direction of the gripping body. .

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