CN113692340A - Exhaust vent cleaning device and exhaust vent cleaning method - Google Patents
Exhaust vent cleaning device and exhaust vent cleaning method Download PDFInfo
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- CN113692340A CN113692340A CN202080028711.3A CN202080028711A CN113692340A CN 113692340 A CN113692340 A CN 113692340A CN 202080028711 A CN202080028711 A CN 202080028711A CN 113692340 A CN113692340 A CN 113692340A
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- cleaning
- exhaust hole
- tool
- drill
- mold
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
- B29C33/02—Moulds or cores; Details thereof or accessories therefor with incorporated heating or cooling means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
- B29C33/70—Maintenance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C35/00—Heating, cooling or curing, e.g. crosslinking or vulcanising; Apparatus therefor
- B29C35/02—Heating or curing, e.g. crosslinking or vulcanizing during moulding, e.g. in a mould
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Thermal Sciences (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
Abstract
The cleaning tool inserted into the vent hole is prevented from being broken when the vent hole of the tire vulcanizing mold is cleaned. An exhaust hole cleaning device (100) is provided with: a mold detection unit (10) that detects the posture of the tire vulcanization mold (1); an exhaust hole detection unit (25) that detects the position of an exhaust hole; a cleaning part (11) having a cleaning tool for cleaning the exhaust hole; a robot arm (12) for moving the cleaning section (11); a tool detection unit (13) that detects a bending load acting on the cleaning tool and the direction of the bending load; and a control unit (14) that controls the operation of the robot arm (12) to move the cleaning unit (11) based on the posture of the tire vulcanization mold (1) and the position of the vent hole, and controls the operation of the robot arm (12) to correct the insertion angle of the cleaning tool based on the bending load acting on the cleaning tool and the direction of the bending load.
Description
Technical Field
The present invention relates to a vent hole cleaning device and a vent hole cleaning method for cleaning a vent hole formed in a tire vulcanizing mold.
Background
The tire vulcanization mold is provided with a plurality of vent holes for releasing air inside the mold during tire vulcanization. In a tire vulcanization step, dirt or rubber may adhere to a molding surface (a surface in contact with a tire) of a tire vulcanization mold for molding a tire, and an exhaust hole may be clogged with the dirt or rubber. Therefore, the tire vulcanizing mold needs to be cleaned periodically.
The cleaning work of the tire vulcanization mold includes a work of removing dirt and rubber adhering to the molding surface of the tire vulcanization mold and a work of cleaning the exhaust hole.
In the work of removing dirt and rubber, a tire vulcanization mold is placed on a dedicated work table and fixed, and the dirt and rubber adhering to the molding surface of the mold are removed by cleaning treatment (blast treatment, laser treatment, or the like). After the completion of the work, the tire vulcanization mold is detached from the work table and transported to the next work place.
In the work of cleaning the exhaust hole, the conveyed tire vulcanization mold is placed on a dedicated work table and fixed, and a drill (drill bit) is attached to the electric drilling device. The drill bit is a cleaning tool that positions the drill bit against the vent hole of the tire curing mold. The vent holes are then cleaned with a drill bit by inserting the drill bit into the vent holes while rotating. This makes it possible to remove dirt and rubber adhering to the inside of the exhaust hole. In addition, when the blasting material enters the inside of the exhaust hole in the blasting process in the preceding operation, the blasting material in the exhaust hole is also removed.
In the work of cleaning the exhaust hole, positioning of the drill for the exhaust hole and insertion of the drill into the exhaust hole are both performed manually. Therefore, work skill is required. Further, since the operator inserts the drill into the exhaust hole while adjusting the position and angle of the drill, the operator must carefully insert the drill, which is a very laborious operation. Therefore, even a skilled worker takes time.
Therefore, in the conventional work of cleaning the exhaust hole, it has been proposed to perform cleaning using an exhaust hole cleaning device (see patent document 1).
The exhaust hole cleaning device is provided with a sensor for detecting the position of an exhaust hole and an exhaust hole cleaning jig for cleaning the exhaust hole at the top end of the mechanical arm. The exhaust hole cleaning jig is provided with a cleaning tool which can freely move in and out and can rotate by a motor. Here, the cleaning tool is a cone such as a piano wire, which is inserted into the tube.
In the work using this exhaust hole cleaning device, the position of the exhaust hole of the tire vulcanization mold is detected by the sensor, and the taper of the exhaust hole cleaning jig is positioned based on the detected position of the exhaust hole. The cone is then pushed out together with the tube towards the vent hole. If the cone and tube reach the location of the vent hole, the tube is left behind and the cone is inserted into the vent hole. The cone is then rotated to clean the vent holes. When the exhaust hole is cleaned, the cone of the piano wire may not remove dirt and rubber attached to the inside of the exhaust hole.
In the conventional exhaust hole cleaning device, the taper pipe of the exhaust hole cleaning jig is protected up to the exhaust hole, and therefore, the taper pipe is not broken in the pipe.
However, the vent hole of the tire vulcanizing mold is manually formed. Therefore, the actually formed vent hole is not always formed in accordance with the design drawing, and the position and angle thereof may be deviated from the design position. If this deviation is large, when the taper is inserted into the exhaust hole in accordance with the design drawing by the exhaust hole cleaning device, the taper may be broken or damaged even if the taper is a piano wire.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2016-150544
Disclosure of Invention
Problems to be solved by the invention
The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to shorten the working time and prevent breakage such as breakage of a cleaning tool inserted into an exhaust hole when cleaning the exhaust hole formed in a tire vulcanizing mold.
Means for solving the problems
The present invention is an exhaust hole cleaning device for cleaning an exhaust hole formed in a tire vulcanization mold, the exhaust hole cleaning device including: a mold detection unit that detects the posture of the tire vulcanization mold; an exhaust hole detection unit that detects the position of an exhaust hole of a tire vulcanization mold; a cleaning section having a cleaning tool for cleaning an exhaust hole of a tire vulcanization mold; a robot arm for moving the cleaning part; a tool detection portion that detects a bending load and a direction of the bending load acting on the cleaning tool of the cleaning portion when the cleaning tool of the cleaning portion is inserted into the air discharge hole; and a control unit that controls the operation of the robot arm to move the cleaning unit based on the posture of the tire vulcanizing mold detected by the mold detection unit and the position of the vent hole detected by the vent hole detection unit, and controls the operation of the robot arm to correct the insertion angle of the cleaning tool based on the bending load acting on the cleaning tool and the direction of the bending load detected by the tool detection unit when the cleaning tool of the cleaning unit is inserted into the vent hole.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, when cleaning the vent hole formed in the tire vulcanization mold, the working time can be shortened, and the cleaning tool inserted into the vent hole can be prevented from being broken or damaged.
Drawings
Fig. 1 is a plan view of the vent cleaning device of the present embodiment.
Fig. 2 is a side view of the vent cleaning device of this embodiment.
Fig. 3 is an enlarged view of a main part showing a cleaning portion of the exhaust hole cleaning device of the present embodiment.
Fig. 4 is a block diagram schematically showing the control unit.
Fig. 5 a is a diagram showing a state of the insertion angle of the cleaning tool of the cleaning portion before correction, and fig. 5B is a diagram showing a state of the insertion angle of the cleaning tool of the cleaning portion after correction.
Fig. 6 is a graph showing bending loads acting on a drill bit.
Fig. 7 a is a view showing a state before the drill is inserted into the exhaust hole, and fig. 7B is a view showing a state after the drill is inserted into the exhaust hole.
Fig. 8 is a diagram showing another embodiment of the cleaning portion.
Fig. 9 is a diagram showing another embodiment of the cleaning portion.
Fig. 10 is a diagram showing another embodiment of the tool detecting unit.
Detailed Description
One embodiment of a vent cleaning device and a vent cleaning method of the present invention will be described with reference to the accompanying drawings.
The vent hole cleaning device of the present embodiment is a device for cleaning vent holes formed in a tire vulcanization mold when cleaning the tire vulcanization mold.
The tire vulcanizing mold is provided in a tire vulcanizing apparatus, and a tire is vulcanized. When the tire is vulcanized, a plurality of (for example, 9) tire vulcanizing molds are arranged in a ring shape so as to surround the tire. Further, a plurality of vent holes are formed in the tire vulcanization mold.
Fig. 1 is a plan view of a vent cleaning device 100 according to the present embodiment. Fig. 2 is a side view of the vent cleaning device 100 of this embodiment. Fig. 3 is an enlarged view of a main part of the cleaning portion 11 of the exhaust hole cleaning device 100 according to the present embodiment.
As shown in fig. 1 and 2, the exhaust hole cleaning device 100 includes: a work table 3 on which a plurality of tire vulcanizing molds 1 are placed and which fixes the plurality of tire vulcanizing molds 1; a carrying-in table 4 for carrying the tire vulcanizing mold 1 into the work table 3; and a carrying-out table 5 for carrying out the tire vulcanizing mold 1 from the work table 3.
The plurality of tire vulcanizing molds 1 are placed on the mold holder 6 and held by the mold holder 6. The mold holder 6 is shaped like a circular basket, and holds the plurality of tire vulcanizing molds 1 in a petaloid spread state with the molding surface facing upward.
The tire vulcanizing mold 1 is placed on the upper surface of the table 3 in a state of being held by the mold holder 6, and is fixed to the table 3. The vent hole 2 is cleaned in the tire vulcanizing mold 1 fixed to the work table 3.
The carry-in table 4, the work table 3, and the carry-out table 5 are arranged in this order along the moving direction of the tire vulcanizing mold 1, and are arranged adjacent to each other. The carrying-in table 4 has a plurality of conveying rollers 7, and the tire vulcanizing mold 1 held by the mold holder 6 is moved toward the work table 3 by the conveying rollers 7 of the carrying-in table 4. The carrying-out table 5 has a plurality of conveying rollers 8, and the tire vulcanizing mold 1 held by the mold holder 6 is separated from the work table 3 by the conveying rollers 8 of the carrying-out table 5.
In a state where the tire vulcanization mold 1 is held by the mold holder 6, the molding surface of the mold holder 6 is cleaned by a cleaning process (blast treatment, laser treatment, or the like). Next, the tire vulcanizing mold 1 is conveyed to the carry-in table 4 together with the mold holder 6, and placed on the carry-in table 4.
The carrying in and out of the tire vulcanizing mold 1 to and from the work table 3 may be performed automatically or manually. The carry-in table 4, the work table 3, and the carry-out table 5 may be arranged in an L shape or may be arranged on a straight line.
As shown in fig. 1 and 2, the exhaust hole cleaning device 100 includes: a mold detection unit 10 that detects the posture of the tire vulcanization mold 1; an exhaust hole detection unit 25 for detecting the position of an exhaust hole 2 of the tire vulcanization mold 1; a cleaning section 11 having a cleaning tool for cleaning the exhaust hole 2 of the tire vulcanizing mold 1; a robot arm 12 for moving the cleaning portion 11; a tool detection portion 13 that detects a bending load of the cleaning tool acting on the cleaning portion 11 and a direction of the bending load when the cleaning tool of the cleaning portion 11 is inserted into the air discharge hole 2; and a control unit 14 that controls the operation of the robot arm 12 and the cleaning unit 11.
The mold detection unit 10 is a 3D sensor (stereo camera) and is disposed above the work table 3 so as to face downward. The mold detection unit 10 images the tire vulcanizing mold 1 fixed to the work table 3, and detects the three-dimensional shape of the tire vulcanizing mold 1. That is, the mold detecting unit 10 detects the posture of the tire vulcanizing mold 1 held by the mold holder 6 fixed to the work table 3. The mold detection unit 10 may be fixed above the work table 3, or may be moved by a moving means. The mold detection unit 10 is not limited to the 3D sensor, and may be other detection means as long as it can detect the posture of the tire vulcanizing mold 1.
The robot arm 12 is an industrial articulated robot, and is provided on a base 15. Here, the robot 12 is a six-axis robot, and the robot 12 is controlled by the control unit 14 so as to move the cleaning unit 11 attached to the tip of the robot 12. The movement of the cleaning unit 11 refers to moving the cleaning tool of the cleaning unit 11 to a predetermined position and changing the orientation of the cleaning tool. The robot arm 12 is disposed adjacent to the work table 3, and the tip of the robot arm 12 is located above the work table 3.
As shown in fig. 3, the cleaning portion 11 includes: a rectangular frame 20 fixed to the tip of the robot arm 12; a drill motor 21 provided inside the housing 20; and a cleaning tool attached to the motor 21 for the drill.
The cleaning tool is a drill 22, and the drill 22 is inserted into the exhaust hole 2 of the tire vulcanizing mold 1 by rotating to clean the exhaust hole 2. Further, the cleaning tool is not limited to the drill 22, and may be another tool.
The drill motor 21 is, for example, a spindle motor, and rotates the drill 22. The drill motor 21 is not limited to this, and may be another motor.
An L-shaped bracket 23 is fixed to a lower portion of the frame 20. The bracket 23 is composed of two members separated at the middle thereof. An annular guide 24 is fixed to the tip of the holder 23. The guide 24 holds the drill 22 rotatably, and suppresses vibration of the rotating drill 22.
The drill motor 21 is vertically slidable relative to the housing 20. That is, the drill motor 21 is supported by the support member 26. The support member 26 is attached to a linear guide 27 fixed to the housing 20, and is attached to a nut 28A of a ball screw 28 provided inside the housing 20. The screw shaft 28B of the ball screw 28 is rotated by a servomotor 29 fixedly attached to the housing 20. When the screw shaft 28B of the ball screw 28 rotates, the nut 28A, the support member 26, and the drill motor 21 slide up and down along the linear guide 27.
In this manner, the drill motor 21 is slid along the linear guide 27 by rotating the screw shaft 28B of the ball screw 28 by the servo motor 29, and the drill 22 is inserted into the exhaust hole 2 without operating the robot arm 12 when the drill 22 is inserted into the exhaust hole 2. Thus, the insertion of the drill 22 can be performed only by the control of the servo motor 29 of the cleaning unit 11. Therefore, the control at the time of insertion of the drill 22 can be easily performed without complicated control of the robot arm 12.
The exhaust hole detection unit 25 is a 3D sensor. The exhaust hole detection unit 25 is attached to a side surface of the housing 20 of the cleaning unit 11. The exhaust hole detection unit 25 images the tire vulcanization mold 1 to detect the position of the exhaust hole 2 of the tire vulcanization mold 1. The exhaust hole detection unit 25 is preferably a 3D sensor having high detection accuracy for the exhaust hole 2, but may be another sensor such as a 2D camera, for example. The mounting position of the exhaust hole detection unit 25 is not limited to the housing 20 of the cleaning unit 11.
Here, the vent hole detection unit 25 is formed separately from the mold detection unit 10, but the vent hole detection unit 25 may be combined with the mold detection unit 10 to detect the posture of the tire vulcanizing mold 1 and the position of the vent hole 2 by one detection unit.
The tool detection unit 13 is a sensor attached to the middle (separated position) of a holder 23 fixedly attached to the lower portion of the housing 20, and is here a six-axis force sensor. The six-axis force sensor measures forces in the X-axis direction, the Y-axis direction, and the Z-axis direction, and torques around the axes. Thus, the tool detection unit 13 can detect the bending load acting on the drill 22 of the cleaning unit 11 and the direction of the bending load when the drill 22 of the cleaning unit 11 is inserted into the exhaust hole 2, based on the measured data. The direction of the bending load and the bending load acting on the drill 22 of the cleaning portion 11 is the direction of the bending load and the bending load acting on the portion of the drill 22 protruding forward from the guide 24 of the cleaning portion 11.
By using the tool detection unit 13 as a six-axis force sensor, the bending load acting on the drill 22 of the cleaning unit 11 and the direction of the bending load can be easily detected. The tool detection unit 13 is not limited to the six-axis force sensor, and may be a multi-axis force sensor, a load cell (load cell), or the like as long as it can detect a bending load and a direction of the bending load.
Fig. 4 is a block diagram schematically showing the control unit 14.
As shown in the figure, the control unit 14 includes a computer 30, an input unit 31, a robot arm operation control unit 32, a cleaning tool operation control unit 33, a motor operation control unit 34 of the cleaning unit 11, and the like.
The computer 30 issues commands to the robot arm operation control unit 32, the cleaning tool operation control unit 33, the motor operation control unit 34 of the cleaning unit 11, and the like based on a predetermined program. The robot operation control unit 32 is connected to the robot 12 and controls the operation of the robot 12. The cleaning tool operation control unit 33 is connected to the drill motor 21 and controls the operation of the drill motor 21. The motor operation control unit 34 of the cleaning unit 11 is connected to the servo motor 29 among the motors of the cleaning unit 11, and controls the operation of the servo motor 29. The input unit 31 is connected to the mold detection unit 10, the vent hole detection unit 25, the tool detection unit 13, and the like.
The computer 30 receives the posture of the tire vulcanizing mold 1 detected by the mold detecting unit 10 from the input unit 31, and issues a command to the robot operation control unit 32 based on the received data and design data of the positions of the tire vulcanizing mold 1 and the vent holes 2 formed in the tire vulcanizing mold 1, which are stored in advance in a storage device (server) described later, for example. At the same time, the positions of the exhaust holes 2 of the tire vulcanizing mold 1 detected by the exhaust hole detecting unit 25 are input from the input unit 31, and the operation of the robot arm 12 is controlled based on the input data. That is, the operation of the robot arm 12 is controlled so that the drill 22 of the cleaning portion 11 can be inserted into the exhaust hole 2 by moving the drill 22 to a predetermined position with respect to the exhaust hole 2 formed in the tire vulcanizing mold 1 and forming a predetermined orientation.
The computer 30 receives the bending load acting on the drill 22 and the direction of the bending load detected by the tool detection unit 13 via the input unit 31, and issues a command to the robot operation control unit 32 based on the received input data to control the operation of the robot 12. That is, the computer 30 controls the operation of the robot arm 12 based on the bending load acting on the drill 22 and the direction of the bending load detected by the tool detection unit 13 when the drill 22 of the cleaning unit 11 is inserted into the exhaust hole 2, so as to move the drill 22 of the cleaning unit 11 (change the orientation of the drill 22) and correct the insertion angle of the drill 22 into the exhaust hole 2.
Fig. 5 a is a diagram showing a state of the insertion angle of the drill 22 before correction. Fig. 5B is a diagram showing a state of the corrected insertion angle of the drill 22.
When the drill 22 is inserted into the exhaust hole 2, if the hole angle of the exhaust hole 2 and the insertion angle of the drill 22 deviate from each other as shown in a of fig. 5, the bending load acting on the drill 22 detected by the tool detection unit 13 increases. When the bending load exceeds a predetermined value (here, a correction start threshold value), the insertion angle of the drill 22 is corrected. That is, the tool detection unit 13 detects a bending load acting on the drill 22, and when the bending load exceeds a correction start threshold, the robot arm 12 is operated to tilt the drill 22 (start of correction). The direction in which the drill 22 is tilted is the same direction as the direction of the bending load acting on the drill 22 detected by the tool detecting portion 13 (indicated by arrow a in the figure). When the robot arm 12 is operated to tilt the drill 22, the drill 22 is tilted so as to rotate with the tip thereof as a reference. As shown in B of fig. 5, the bending load acting on the drill 22 is reduced by tilting the drill 22, and when the bending load is smaller than a predetermined value (here, the correction completion threshold value), tilting of the drill 22 is stopped (correction completion).
In this correction of the insertion angle of the drill 22, when the bending load acting on the drill 22 exceeds the correction start threshold value, the insertion speed of the drill 22 is decreased from the normal speed to the low speed, and the insertion angle of the drill 22 is corrected in the low speed state. However, the correction of the insertion angle of the drill 22 is not limited to this, and the insertion of the drill 22 may be stopped when the bending load acting on the drill 22 exceeds the correction start threshold value, and the insertion angle of the drill 22 may be corrected in a stopped state.
Next, a bending load acting on the drill 22 will be described.
Fig. 6 is a graph showing bending loads acting on the drill bit 22.
The correction start threshold value of the bending load is a value lower than a safe value at which breakage such as breakage of the drill 22 does not occur in the bending load of the drill 22, and even if the correction start threshold value is slightly exceeded, breakage such as breakage of the drill 22 does not occur. The correction completion threshold is a value lower than the correction start threshold.
Even if the insertion angle of the drill 22 and the deviation amount of the hole angle of the exhaust hole 2 are the same, the bending load acting on the drill 22 in consideration of the correction completion threshold and the correction start threshold differs depending on the distance from the guide 24 of the cleaning portion 11 to the entrance of the exhaust hole 2. That is, even if the insertion angle of the drill 22 and the deviation amount of the hole angle of the exhaust hole 2 are the same, the bending load becomes large if the distance from the guide 24 to the entrance of the exhaust hole 2 is short, and the bending load becomes small if the distance from the guide 24 to the entrance of the exhaust hole 2 is long. Thus, as shown in fig. 6, the correction start threshold and the correction completion threshold of the bending load also differ according to the distance from the guide member 24 to the entrance of the exhaust hole 2. Therefore, the insertion angle of the drill 22 is corrected based on the distance from the guide 24 to the entrance of the exhaust hole 2.
Further, the exhaust hole cleaning device 100 includes a distance maintaining means for maintaining a fixed distance from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 when the drill 22 of the cleaning portion 11 is inserted into the exhaust hole 2. Here, the distance maintaining means is the control unit 14 and the robot arm 12 controlled by the control unit 14.
Fig. 7 a is a diagram showing a state before the drill 22 is inserted into the exhaust hole 2, and fig. 7B is a diagram showing a state after the drill 22 is inserted into the exhaust hole 2.
In the distance maintaining means, in order to maintain the distance L from the guide 24 of the cleaning unit 11 to the inlet of the exhaust hole 2 constant, when the drill 22 is inserted into the exhaust hole 2, the control unit 14 stops the operation of the robot arm 12 as shown in a of fig. 7, and the robot arm 12 is brought into a stopped state. Thereafter, as shown in B of fig. 7, the drill 22 is inserted into the exhaust hole 2 by sliding the drill motor 21 along the linear guide 27 by operating the servo motor 29. Thus, when the drill 22 is inserted into the exhaust hole 2, only the drill 22 moves slidably without moving the frame 20 and the guide 24 fixed to the robot arm 12. In this manner, when the drill 22 is inserted into the exhaust hole 2, the operation of the robot arm 12 is stopped, whereby the distance L from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 is maintained constant. Further, by setting the distance L from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 to an optimal length at which the bur 22 is less likely to bend in advance, the distance L from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 is maintained at the optimal length when the bur 22 is inserted into the exhaust hole 2, and thus breakage of the bur 22 inserted into the exhaust hole 2 can be reduced.
Next, the procedure of the cleaning operation of the exhaust hole 2 will be described.
The tire vulcanizing mold 1 held by the mold holder 6 is carried into the work table 3 from the carrying-in table 4, and the tire vulcanizing mold 1 is fixed to the work table 3. After the tire vulcanizing mold 1 is fixed to the work table 3, the posture of the tire vulcanizing mold 1 is detected by the mold detecting section 10. The posture of the tire vulcanizing mold 1 detected by the mold detecting unit 10 is checked against design data stored in advance. Based on the result, the positions of the exhaust holes 2 of the tire vulcanizing mold 1 are determined, and the control unit 14 controls the operation of the robot arm 12 based on the positions, and moves the robot arm 12 to move the drill 22 of the cleaning unit 11 to the predetermined positions of the exhaust holes 2. After the drill 22 of the cleaning unit 11 is moved, the position of the vent hole 2 of the tire vulcanizing mold 1 is detected by the vent hole detecting unit 25. The control unit 14 controls the operation of the robot arm 12 based on the position of the exhaust hole 2 detected by the exhaust hole detection unit 25, and operates the robot arm 12 to change the position and orientation of the drill 22, thereby positioning the drill 22 with respect to the exhaust hole 2.
Next, the drill 22 is rotated by the drill motor 21, and the drill 22 is inserted into the exhaust hole 2. Thereby, the exhaust hole 2 is cleaned by the drill 22. When cleaning the exhaust hole 2, the tool detection portion 13 detects a bending load acting on the drill 22 inserted into the exhaust hole 2 and the direction of the bending load. When the bending load acting on the drill 22 detected by the tool detection unit 13 becomes large (when the bending load exceeds a predetermined value), the insertion speed of the drill 22 is reduced to a low speed. After the insertion speed of the drill 22 is set to a low speed, the control unit 14 controls the operation of the robot arm 12 based on the bending load acting on the drill 22 detected by the tool detection unit 13 and the direction of the bending load, and operates the robot arm 12 to correct the insertion angle of the drill 22. After the correction, the insertion speed of the drill 22 is returned to the original normal speed, and the exhaust hole 2 is cleaned by inserting the drill 22. When cleaning the exhaust holes 2, the control portion 14 performs collation with data of the positions of the exhaust holes 2 to distinguish the exhaust holes 2 that have been cleaned from the exhaust holes 2 that have not been cleaned.
When cleaning of one exhaust hole 2 is completed, the operation of the robot arm 12 is controlled by the control unit 14, and the robot arm 12 is operated to move the drill 22 of the cleaning unit 11 to the position of the next exhaust hole 2 which is not cleaned. After the drill 22 of the cleaning portion 11 is moved, the exhaust hole 2 is cleaned in the same manner as described above. In this manner, all the exhaust holes 2 formed in the tire vulcanizing mold 1 are cleaned. After cleaning of all the exhaust holes 2 is completed, the tire vulcanizing mold 1 is carried out from the work table 3 to the carrying-out table 5.
Further, as shown in fig. 4, exhaust hole cleaning device 100 includes a storage device connected to control unit 14. The storage device is a device that stores various data, here a server 16. However, the storage device is not limited to the server 16. The data stored in the server 16 is, for example, design data of the tire vulcanizing mold 1 and the positions of the vent holes 2 formed in the tire vulcanizing mold 1.
When the exhaust holes 2 are cleaned by the drills (cleaning tools) 22 of the cleaning unit 11, the server 16 collects data of the corrected positions of the exhaust holes 2 and the insertion angles of the drills 22 for the respective exhaust holes 2 of the tire vulcanizing mold 1, and stores the collected data. Here, the stored data is made into a database.
The tire vulcanizing mold 1 is identified by identification information (for example, an individual number). Therefore, as described above, with respect to the tire vulcanizing mold 1 in which the cleaning work of the vent hole 2 is performed, the data of the posture of the tire vulcanizing mold 1 detected by the mold detecting unit 10, the data of the position of the vent hole 2 of the tire vulcanizing mold 1 detected by the vent hole detecting unit 25, and the data of the correction of the insertion angle of the bit 22 when the bit 22 is inserted into the vent hole 2 are stored in the server 16 together with the identification information. That is, the server 16 stores data of all the tire vulcanizing molds 1 subjected to the cleaning work of the vent holes 2, and makes the data into a database.
In the cleaning work of the exhaust hole 2 for the second time or later, the control unit 14 performs control so that the drill 22 of the cleaning unit 11 is inserted into the exhaust hole 2 based on the data of the tire vulcanizing mold 1 (data of the posture of the tire vulcanizing mold 1, data of the position of the exhaust hole 2, and data of the insertion angle of the drill 22 after correction when the drill 22 is inserted) stored in the server 16 and made into a database in the cleaning work of the exhaust hole 2 for the first time.
In this manner, in the tire vulcanizing mold 1 in which the cleaning operation of the exhaust hole 2 is performed once, the cleaning operation of the exhaust hole 2 is performed for the second time or later based on the data of the tire vulcanizing mold 1 in the cleaning operation of the exhaust hole 2 for the first time, which is made into a database and stored in the server 16. Thus, the drill 22 can be inserted into the exhaust hole 2 without detecting the position of the exhaust hole 2 by the exhaust hole detecting unit 25, correcting the insertion angle of the drill 22 when the drill 22 is inserted into the exhaust hole 2, or the like.
That is, the cleaning operation of the exhaust hole 2 for the second time or later is performed as follows. The posture of the tire vulcanizing mold 1 fixed to the table 3 is detected by the mold detecting unit 10. The control unit 14 controls the operation of the robot arm 12 based on the posture of the tire vulcanizing mold 1 detected by the mold detection unit 10 and based on the data of the tire vulcanizing mold 1 in the cleaning operation of the exhaust hole 2 for the first time, which is databased and stored in the server 16, and moves the drill 22 of the cleaning unit 11 to the position of the predetermined exhaust hole 2 by operating the robot arm 12. In addition, at the same time, the position and orientation of the drill 22 are changed to position the drill 22 with respect to the exhaust hole 2. Therefore, the drill 22 can be positioned with respect to the exhaust hole 2 without detecting the position of the exhaust hole 2 by the exhaust hole detecting portion 25.
Next, the exhaust hole 2 is cleaned by inserting the drill 22 into the exhaust hole 2 while rotating the drill 22 by the drill motor 21. In cleaning the exhaust hole 2 at this time, the drill 22 is inserted based on data at the time of the first cleaning operation of the exhaust hole 2 (data of the insertion angle of the drill 22 corrected when the drill 22 is inserted). Therefore, the drill 22 can be inserted into the exhaust hole 2 to clean the exhaust hole 2 without detecting the bending load acting on the drill 22 and the direction of the bending load by the tool detection portion 13, that is, without correcting the insertion angle of the drill 22.
In this manner, in the cleaning work of the exhaust holes 2 for the second time and later, the posture of the tire vulcanizing mold 1 is detected by the mold detecting unit 10, and the cleaning work is performed based on the data of the posture and the data of the tire vulcanizing mold 1 in the cleaning work of the exhaust holes 2 for the first time. Therefore, the detection of the position of the exhaust hole 2 by the exhaust hole detection unit 25 can be omitted when the drill 22 is positioned with respect to the exhaust hole 2. At the same time, when the drill 22 is inserted into the exhaust hole 2, the detection of the bending load acting on the drill 22 inserted into the exhaust hole 2 and the direction of the bending load and the correction of the insertion angle of the drill 22 can be omitted. This can significantly shorten the time required to clean the exhaust hole 2.
As described above, when the drill 22 is inserted into the exhaust hole 2 by the exhaust hole cleaning device 100, the drill 22 is inserted into the exhaust hole 2 with the insertion angle of the drill 22 corrected based on the bending load acting on the drill 22 and the direction of the bending load detected by the tool detection unit 13. Therefore, for example, even if the angle of the exhaust hole 2 or the like does not conform to the design drawing, the drill 22 can be inserted with the insertion angle corrected so that the insertion angle matches the actual angle of the exhaust hole 2, and breakage such as breakage of the drill 22 can be prevented. In addition, the time required for cleaning the exhaust hole 2 can be shortened.
In the cleaning operation of the exhaust holes 2, the operation is performed in a first cleaning operation by comparing the design data of the positions of the exhaust holes 2 stored in advance and distinguishing the exhaust holes 2 that have been cleaned from the exhaust holes 2 that have not been cleaned. In the second and subsequent cleaning operations, the operation is performed by comparing the data of the positions of the exhaust holes 2 in the first cleaning operation and distinguishing the exhaust holes 2 that have been cleaned from the exhaust holes 2 that have not been cleaned. This makes it possible to reliably clean all the exhaust holes 2 formed in the tire vulcanizing mold 1, and to prevent the exhaust holes 2 from being forgotten to be cleaned.
In addition, the computer 30 can also detect breakage of the drill 22 inserted into the exhaust hole 2 based on a change in the bending load acting on the drill 22. For example, when the bending load acting on the drill 22 detected by the tool detection unit 13 sharply decreases, it is determined that the drill 22 has broken, and the breakage of the drill 22 is detected. This prevents a problem that a broken drill remains in the exhaust hole 2.
Next, another embodiment of cleaning unit 11 in exhaust hole cleaning device 100 will be described. Here, a description will be given of a portion different from the cleaning portion 11, and the other portions are the same as the cleaning portion 11.
As shown in fig. 8, the cleaning unit 11 includes a housing 20 fixed to the distal end of the robot arm 12, a drill motor 21 provided inside the housing 20, and a drill 22 (cleaning tool) attached to the drill motor 21. The drill motor 21 is fixed to a lower portion of the housing 20. Further, a linear servo 35 is attached to a side surface of the housing 20 so as to be slidable vertically. The holder 23 and the tool detector 13 (six-axis force sensor) are attached to the linear servo 35, and the guide 24 is attached to the tip end of the holder 23. By sliding the linear servo 35, the guide 24 is thereby slid up and down with respect to the drill bit 22.
In this case, the computer 30 controls the operation of the robot arm 12 to move the robot arm 12, thereby inserting the drill 22 into the exhaust hole 2.
Here, the exhaust hole cleaning device 100 also includes a distance maintaining means for maintaining a fixed distance from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 when the drill 22 of the cleaning portion 11 is inserted into the exhaust hole 2. Here, the distance maintaining means is the linear servo 35 of the control section 14 and the cleaning section 11 controlled by the control section 14.
In the distance maintaining means, in order to maintain the distance L from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 constant, when the drill 22 is inserted into the exhaust hole 2, the robot arm 12 is moved to insert the drill 22 into the exhaust hole 2. At the same time, the controller 14 controls the linear servo 35 of the cleaning unit 11 to slide the guide 24 relative to the drill 22. The linear servo 35 is a slide motion in a direction opposite to the motion direction of the robot arm 12, and the amount of the slide motion is set to be the same as the amount of the motion of the robot arm 12. In this way, when the drill 22 is inserted into the exhaust hole 2, the linear servo 35 and the guide 24 are operated in the direction opposite to the operation direction of the robot arm 12, whereby the distance L from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 is maintained constant.
As shown in fig. 9, the cleaning unit 11 according to still another embodiment includes a housing 20 fixed to the distal end of the robot arm 12, a drill motor 21 provided inside the housing 20, and a drill 22 (cleaning tool) attached to the drill motor 21. The drill motor 21 is vertically slidable relative to the housing 20. Further, a linear servo 35 is attached to a side surface of the housing 20 so as to be slidable vertically. The holder 23 and the tool detector 13 (six-axis force sensor) are attached to the linear servo 35, and the guide 24 is attached to the tip end of the holder 23. By sliding the linear servo 35, the guide 24 is thereby slid up and down with respect to the drill bit 22.
In this case, the drill 22 is inserted into the exhaust hole 2 by sliding the drill motor 21 without moving the robot arm 12.
When the drill 22 is inserted into the exhaust hole 2, the guide 24 and the frame 20 fixed to the robot arm 12 do not move, and the drill 22 moves slidably together with the drill motor 21. In this manner, when the drill 22 is inserted into the exhaust hole 2, the movement of the robot arm 12 is stopped, so that the distance L from the guide 24 of the cleaning portion 11 to the entrance of the exhaust hole 2 is maintained constant. That is, in the present embodiment, the exhaust hole cleaning device 100 includes distance maintaining means for maintaining a fixed distance from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 when the drill 22 of the cleaning portion 11 is inserted into the exhaust hole 2.
Further, by sliding the guide 24 relative to the drill 22 by the linear servo 35, the portion of the drill 22 projecting forward from the guide 24, that is, the distance L from the guide 24 of the cleaning portion 11 to the inlet of the exhaust hole 2 can be easily changed to an optimum distance according to the shape and material of the drill 22.
In exhaust hole cleaning device 100, tool detection unit 13 is a six-axis force sensor attached to holder 23 of cleaning unit 11. In contrast, the attachment position of the tool detection unit 13 may be other positions, and for example, the tool detection unit 13 may be attached between the distal end of the robot arm 12 and the housing 20 of the cleaning unit 11. The tool detection unit 13 may be another sensor, for example, a multi-axis force sensor or a load sensor 36. In the case of the load sensors 36, as shown in fig. 10, 4 load sensors 36 are directly attached to the annular guide 24 that rotatably holds the drill 22. The load can be measured by the 4 load sensors 36, and the bending load acting on the drill 22 of the cleaning portion 11 and the direction of the bending load can be detected when the drill 22 of the cleaning portion 11 is inserted into the exhaust hole 2.
Description of the reference numerals
1: a mold for tire vulcanization; 2: an exhaust hole; 3: an operation table; 4: a carrying-in table; 5: a carrying-out table; 6: a mold holding tool; 7: a conveying roller; 8: a conveying roller; 10: a mold detection unit; 11: a cleaning section; 12: a mechanical arm; 13: a tool detection unit; 14: a control unit; 15: a base station; 16: a server; 20: a frame body; 21: a motor for a drill; 22: a drill bit; 23: a support; 24: a guide; 25: an exhaust hole detection unit; 26: a support member; 27: a linear guide rail; 28: a ball screw; 28A: a nut; 28B: a screw shaft; 29: a servo motor; 30: a computer; 31: an input section; 32: a mechanical arm action control part; 33: a cleaning tool operation control unit; 34: a motor operation control unit; 35: linear servo; 36: a load sensor; 100: exhaust hole cleaning device.
Claims (6)
1. A vent hole cleaning device for cleaning a vent hole formed in a tire vulcanization mold, the vent hole cleaning device comprising:
a mold detection unit that detects the posture of the tire vulcanization mold;
an exhaust hole detection unit that detects the position of an exhaust hole of a tire vulcanization mold;
a cleaning section having a cleaning tool for cleaning an exhaust hole of a tire vulcanization mold;
a robot arm for moving the cleaning part;
a tool detection portion that detects a bending load and a direction of the bending load of the cleaning tool acting on the cleaning portion when the cleaning tool of the cleaning portion is inserted into the air discharge hole; and
and a control unit that controls the operation of the robot arm to move the cleaning unit based on the posture of the tire vulcanizing mold detected by the mold detection unit and the position of the vent hole detected by the vent hole detection unit, and controls the operation of the robot arm to correct the insertion angle of the cleaning tool based on the bending load acting on the cleaning tool and the direction of the bending load detected by the tool detection unit when the cleaning tool of the cleaning unit is inserted into the vent hole.
2. The vent cleaning device of claim 1,
when the bending load acting on the cleaning tool detected by the tool detection unit exceeds a predetermined value, the control unit corrects the insertion angle of the cleaning tool formed by the robot arm.
3. The vent cleaning device of claim 1 or 2,
the tool detection unit is a six-axis force sensor.
4. The vent cleaning device according to any one of claims 1 to 3, further comprising:
a guide member that rotatably holds the cleaning tool of the cleaning section; and
and a distance maintaining unit for maintaining a distance from the guide member to an inlet of the exhaust hole to be fixed when the cleaning tool of the cleaning part is inserted into the exhaust hole.
5. The vent cleaning device according to any one of claims 1 to 4,
and a storage device connected to the control unit, for storing the corrected positions of the exhaust holes and the insertion angles of the cleaning tools for the respective exhaust holes of the tire vulcanizing mold when the exhaust holes are cleaned by the cleaning tools of the cleaning unit,
the control section corrects an insertion angle of the cleaning tool formed by the robot arm to insert the cleaning tool of the cleaning section into the exhaust hole based on the data of the position of the exhaust hole and the insertion angle of the cleaning tool stored in the storage device.
6. A vent hole cleaning method for cleaning a vent hole formed in a tire vulcanizing mold, the vent hole cleaning method comprising the steps of:
detecting the posture of the tire vulcanization mold by a mold detection part;
detecting a position of an exhaust hole of the tire vulcanization mold by an exhaust hole detecting portion;
moving the cleaning unit by controlling the operation of the robot arm by the control unit based on the posture of the tire vulcanizing mold detected by the mold detection unit and the position of the vent hole detected by the vent hole detection unit;
inserting a cleaning tool of the cleaning part into the exhaust hole to perform cleaning;
detecting, by a tool detecting portion, a bending load and a direction of the bending load acting on the cleaning tool when the cleaning tool is inserted into the air discharge hole; and
the control unit controls the operation of the robot arm based on the bending load acting on the cleaning tool and the direction of the bending load detected by the tool detection unit when the cleaning tool of the cleaning unit is inserted into the exhaust hole, thereby correcting the insertion angle of the cleaning tool.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019-077794 | 2019-04-16 | ||
| JP2019077794A JP7117264B2 (en) | 2019-04-16 | 2019-04-16 | Vent hole cleaning device and vent hole cleaning method |
| PCT/JP2020/016606 WO2020213652A1 (en) | 2019-04-16 | 2020-04-15 | Vent hole cleaning device and vent hole cleaning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113692340A true CN113692340A (en) | 2021-11-23 |
| CN113692340B CN113692340B (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080028711.3A Active CN113692340B (en) | 2019-04-16 | 2020-04-15 | Exhaust hole cleaning device and exhaust hole cleaning method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7117264B2 (en) |
| CN (1) | CN113692340B (en) |
| WO (1) | WO2020213652A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020213652A1 (en) | 2020-10-22 |
| JP2020175542A (en) | 2020-10-29 |
| JP7117264B2 (en) | 2022-08-12 |
| CN113692340B (en) | 2023-04-25 |
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