JP2021035735A - Stud pin driving apparatus and method for manufacturing studded tire - Google Patents

Abstract

To provide a stud pin driving apparatus that can drive a stud pin into a pin hole with high accuracy, and a method for manufacturing a studded tire.SOLUTION: A stud pin driving apparatus 10 comprises: a guide portion 1 that guides the stud pin toward a pin hole 94 of a tire 9; a pressing portion 2 that presses the stud pin to drive into the pin hole 94; and a robot arm 4 as an actuator that moves the pressing portion 2. The pressing portion 2 is attached to the robot arm 4 through a force sensor 5.SELECTED DRAWING: Figure 2

Description

The present invention relates to a stud pin driving device for driving a stud pin into a pin hole of a tire, and a method for manufacturing a stud tire including a step of driving the stud pin into the pin hole of the tire.

Pneumatic tires with stud pins driven into the tread surface are called stud tires (or spike tires) and are mainly used for running on icy and snowy roads. Such a stud tire is manufactured by driving stud pins into a large number of pin holes provided on the tread surface of a vulcanized tire. Generally, in the step of driving the stud pin, a pneumatic stud gun driven by a predetermined air pressure is used (for example, Patent Document 1).

The pin hole of a tire may have an irregular shape such as its orientation or inner surface shape is not as designed. The pneumatic stud gun always tries to press-fit the stud pin in a predetermined direction regardless of the state of such a pin hole, which reduces the accuracy of the driving operation and affects the protruding height of the stud pin. Sometimes. If the protrusion height is excessive or insufficient, productivity will be hindered by the labor of reworking work even if it can be corrected.

International Publication No. 2015/087850

An object of the present invention is to provide a stud pin driving device capable of driving a stud pin into a pin hole with high accuracy and a method for manufacturing a stud tire.

The above object can be achieved by the present invention as described below. That is, the stud pin driving device according to the present invention moves a guide portion that guides the stud pin toward the pin hole of the tire, a pressing portion that presses the stud pin and drives it into the pin hole, and the pressing portion. An actuator is provided, and the pressing portion is attached to the actuator via a force sensor.

According to this device, when the stud pin is pressed by the pressing portion and driven into the pin hole, the force or moment acting on the pressing portion is detected by the force sensor, and the posture of the pressing portion is determined based on the detected value. Can be changed. Therefore, even when the pin hole has an irregular shape, the stud pin can be driven into the pin hole with high accuracy.

Further, another stud pin driving device according to the present invention has a driving head having a guide portion for guiding the stud pin toward the pin hole of the tire and a pressing portion for pressing the stud pin and driving the stud pin into the pin hole. And an actuator for moving the driving head, and the driving head is attached to the actuator via a force sensor.

According to this device, when the stud pin is pressed by the pressing portion of the driving head and driven into the pin hole, the force or moment acting on the pressing portion is detected by the force sensor, and the pressing portion is based on the detected value. Can change the posture of. Therefore, even when the pin hole has an irregular shape, the stud pin can be driven into the pin hole with high accuracy.

It is preferable that the force sensor is mechanically connected to the pressing portion. According to such a configuration, the posture of the stud pin with respect to the pin hole can be accurately controlled via the pressing portion.

It is preferable that the pressing portion is configured to press the stud pin by the thrust of the servo motor that drives the actuator. According to this configuration, the force for pressing the stud pin can be adjusted, which is useful for driving the stud pin by changing the posture of the pressing portion. On the other hand, in a pneumatic stud gun that presses the stud pin with air pressure, it is difficult to adjust the force for pressing the stud pin.

It is preferable that the guide portion is elastically connected to the pressing portion. According to this configuration, the influence on the force sensor when the guide portion is brought into contact with the tire is suppressed, so that the force or moment acting on the pressing portion can be detected with high accuracy.

Further, the method for manufacturing a stud tire according to the present invention is a method for manufacturing a stud tire by driving a stud pin into a pin hole of the tire, and is a pressing method attached to an actuator via a force sensor. A step of moving the portion with the actuator, pressing the stud pin with the pressing portion while guiding the stud pin with the guide portion, and driving the stud pin into the pin hole is provided, and the pressing is performed based on the detection value of the force sensor. The actuator is controlled so as to change the posture of the unit.

According to this method, when the stud pin is pressed by the pressing portion and driven into the pin hole, the force or moment acting on the pressing portion is detected by the force sensor, and the posture of the pressing portion is determined based on the detected value. Can be changed. Therefore, even when the pin hole has an irregular shape, the stud pin can be driven into the pin hole with high accuracy.

Another method for manufacturing a stud tire according to the present invention is a method for manufacturing a stud tire by driving a stud pin into a pin hole of the tire, which has a guide portion and a pressing portion. A step of moving a driving head attached to an actuator via a force sensor, guiding the stud pin with the guide portion, pressing the stud pin with the pressing portion, and driving into the pin hole is provided. The actuator is controlled so as to change the posture of the pressing portion based on the detected value of the force sensor.

According to this method, when the stud pin is pressed by the pressing portion of the driving head and driven into the pin hole, the force or moment acting on the pressing portion is detected by the force sensor, and the pressing portion is based on the detected value. Can change the posture of. Therefore, even when the pin hole has an irregular shape, the stud pin can be driven into the pin hole with high accuracy.

It is preferable that the force sensor is mechanically connected to the pressing portion. According to such a method, the posture of the stud pin with respect to the pin hole can be accurately controlled via the pressing portion.

It is preferable that the pressing portion presses the stud pin by the thrust of the servo motor that drives the actuator. According to this method, the force for pressing the stud pin can be adjusted, which is useful for driving the stud pin by changing the posture of the pressing portion.

When driving the stud pin into the pin hole, it is preferable that the guide portion elastically connected to the pressing portion is brought into contact with the tire. Since the guide portion is elastically connected to the pressing portion, the influence on the force sensor when the guide portion is brought into contact with the tire is suppressed, and the force or moment acting on the pressing portion can be detected with high accuracy.

A side view showing an example of a stud pin driving device according to the present invention. Top view of the stud pin driving device Front view sectional view of the driving head Side view sectional view of the driving head Diagram showing stud pins driven into pin holes Block diagram showing the configuration of the control system of the stud pin driving device The figure explaining the driving operation of a stud pin Schematic diagram showing an example of the posture change of the pressing portion The figure explaining the driving operation of a stud pin The figure explaining the driving operation of a stud pin Front view sectional view showing a modified example of the driving head Front view sectional view showing a modified example of the driving head

An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a side view showing an example of a stud pin driving device according to the present invention. FIG. 2 is a plan view of the stud pin driving device. As shown in FIGS. 1 and 2, the stud pin driving device 10 (hereinafter, may be simply referred to as “driving device 10”) serves as an actuator for moving the guide unit 1, the pressing unit 2, and the pressing unit 2. A robot arm 4 is provided, and a pressing portion 2 thereof is attached to the robot arm 4 via a force sensor 5. The driving device 10 of the present embodiment further includes a control unit 6 that controls the operation of the driving device 10.

A tire support device 90 that supports the tire 9 in a vertical position is installed in front of the driving device 10. The tire 9 is mounted on the rim 91 and is inflated with a predetermined air pressure. The tire support device 90 is provided with a rotation mechanism 92 that rotates the tire 9 in the tire circumferential direction via the rim 91. The tire 9 is a vulcanized pneumatic tire, and a large number of pin holes 94 are provided on the tread surface 93 thereof. A stud tire is manufactured by driving a stud pin 7 (see FIGS. 3 and 4) into the pin hole 94.

A laser displacement meter 95 is provided at a position of the tire 9 facing the tread surface 93. The laser displacement meter 95 scans the tread surface 93 before driving the stud pin 7 to detect the position of the pin hole 94. The detected position information of the pin hole 94 is sent to the control unit 6. The control unit 6 uses the position information to generate data for causing the driving device 10 to execute the driving operation, and controls the operation of the rotation mechanism 92, the robot arm 4, and the like based on the data. In the present embodiment, the laser displacement meter 95 is used to specify the position of the pin hole 94, but the present embodiment is not limited to this.

As shown in FIGS. 3 and 4, the driving head 3 is attached to the robot arm 4 via the force sensor 5. The driving head 3 has a guide portion 1 that guides the stud pin 7 toward the pin hole 94, and a pressing portion 2 that presses the stud pin 7 to drive the stud pin 7 into the pin hole 94. In the present embodiment, the driving head 3 further has a supply unit 8 that supplies the stud pin 7 to the guide unit 1. The driving head 3 is configured to guide the stud pin 7 supplied by the supply unit 8 with the guide unit 1 and press the stud pin 7 with the pressing unit 2.

The guide portion 1 has a tubular member 11 and a support member 12 that supports the tubular member 11. The tip end side portion 11a of the tubular member 11 is formed to be tapered so as to easily penetrate into the pin hole 94. The inner diameter of the tip end side portion 11a is smaller than the outer diameter of the pressing rod 21 and the stud pin 7, but when they pass through, the diameter is increased by elastic deformation (see FIGS. 9 and 10). Instead of or in addition to this, the tubular member 11 may have a split structure that can be expanded or contracted. The inner diameter of the proximal end side portion 11b of the tubular member 11 is larger than the outer diameter of the pressing rod 21, preferably about 0.3 to 5 mm.

The support member 12 is formed in a plate shape, and a base end side portion 11b of the tubular member 11 is attached to the lower surface thereof. The support member 12 is provided with an insertion hole 12a through which the pressing rod 21 of the pressing portion 2 is inserted. The diameter of the insertion hole 12a is larger than the outer diameter of the pressing rod 21, and a play equal to or larger than that of the proximal end side portion 11b is provided. As will be described later, in order to change the posture of the pressing portion 2 so that the axial center of the pressing portion 2 (the axial center of the pressing rod 21) is aligned with the axial center of the pin hole 94, such play causes the proximal end side portion 11b. It is preferable that it is provided in the insertion hole 12a.

The pressing portion 2 has a pressing rod 21 extending along the axial direction of the tubular member 11 and a supporting member 22 for supporting the upper end portion of the connecting member 25 described later. The tip of the pressing rod 21 comes into contact with the stud pin 7. A large diameter portion 23 and a flange 24 are provided at the base end portion of the pressing rod 21. The support member 22 is formed in a plate shape, and a large diameter portion 23 is attached to the upper surface thereof. The support member 22 is provided with an insertion hole 22a into which the pressing rod 21 is inserted. A force sensor 5 is connected to the flange 24. The bolt 24a serves as a fixture for fixing the force sensor 5 to the flange 24. In this way, the pressing portion 2 is connected to the force sensor 5 via the flange 24.

In the present embodiment, the guide portion 1 and the pressing portion 2 are connected via the connecting member 25. The connecting member 25 is formed in a tubular shape, the lower end thereof is attached to the upper surface of the support member 12, and the upper end thereof is attached to the lower surface of the support member 22. The connecting member 25 is deformably configured so that the guide portion 1 can be displaced relative to the pressing portion 2. Therefore, the guide portion 1 in contact with the tire 9 is displaced relative to the pressing portion 2 along the axial direction of the pressing rod 21, or is inclined within the play range with respect to the axial direction. Can be done (see Figures 9 and 10). In the present embodiment, the connecting member 25 is formed of rubber as an elastic material, and the guide portion 1 is elastically connected to the pressing portion 2.

The supply unit 8 has a pipe body 81, a supply pipe 82 leading to a branch portion branched from the middle of the pipe body 81, and a cylinder 83 to which the pipe body 81 is connected. The pipe body 81 is attached to the support member 12, and the supply unit 8 moves integrally with the guide unit 1. The stud pin 7 is sent to the pipe body 81 from a stud pin storage portion (not shown) through the supply pipe 82. By extending the piston rod 83a of the cylinder 83, the stud pin 7 is pushed out from the tubular body 81 and is charged into the inside of the tubular member 11 through the charging port 11c. The cylinder 83 is composed of, for example, an air cylinder. The mechanism for supplying the stud pin 7 is not limited to this, and various mechanisms can be used.

Although it is drawn in a simple shape in FIGS. 3 and 4, the actual stud pin 7 has a shape as shown in FIG. 5, for example. In FIG. 5, the stud pin 7 includes a columnar main body 71, a flange 73 connected below the main body 71 via a constriction 72, and a protrusion 74 protruding from the top surface of the main body 71. Has. The stud pin 7 is made of a metal material. The protruding height PH from the tire surface, which is the reference surface, must be within the range of the standard set by the destination country, and highly accurate driving operation is required. The shape, material, size, etc. of the stud pin used are not particularly limited.

The force sensor 5 is attached and fixed to the tip of the robot arm 4. In this embodiment, the force sensor 5 is mechanically connected to the pressing portion 2. The force sensor 5 detects a force in the X, Y, Z axis directions orthogonal to each other in the XYZ three-dimensional coordinate system and a moment around the X, Y, Z axis. The information (detected value) detected by the force sensor 5 is sent to the control unit 6. In the present embodiment, the force sensor 5 is formed in a disk shape, and the Z-axis direction corresponding to the thickness direction thereof is matched with the pressing direction by the pressing portion 2 (the axial direction of the pressing rod 21). As the force sensor 5, a conventionally known product can be used.

FIG. 6 is a block diagram showing the configuration of the control system of the driving device 10. The control unit 6 has a storage unit 61 that stores information necessary for executing the driving operation, and a processing unit 62 that performs arithmetic processing necessary for executing the driving operation. The control unit 6 is configured by using, for example, a personal computer or a PLC (Programmable Logic Controller). In the rotation mechanism 92, the servo controller 92a rotates the servomotor 92b based on the control signal from the control unit 6, thereby rotating the tire 9 supported by the tire support device 90. Thereby, the position of the pin hole 94 in the tire circumferential direction can be adjusted.

As described above, in the present embodiment, the robot arm 4 is used as an actuator for moving the driving head 3. By using the robot arm 4, a control mechanism in the X, Y, Z axis direction and the axial direction can be easily constructed, and expansion can be easily performed. A general-purpose product can be used as the robot arm 4, and a 6-axis (or 7-axis) vertical articulated robot arm is preferably used. The robot arm 4 has a plurality of axes (joints) capable of moving the driving head 3 in the X, Y, Z axis directions and the axial directions, and a drive mechanism provided on each of the axes.

FIG. 6 shows two drive mechanisms 41 and 42 among the plurality of drive mechanisms included in the robot arm 4. In the drive mechanism 41, the servo controller 41a rotates the servomotor 41b based on the control signal from the control unit 6, so that, for example, the upper arm of the robot arm 4 is moved up and down. In the drive mechanism 42, the servo controller 42a rotates the servomotor 42b based on the control signal from the control unit 6, so that, for example, the wrist of the robot arm 4 is rotated. A drive mechanism (not shown) is similarly configured, and the driving head 3 can be moved to a desired position by moving each axis (joint) with the force of each servomotor.

A stud tire is manufactured by driving a stud pin 7 into a pin hole 94 of a tire 9 using such a driving device 10. In the method for manufacturing a stud tire of the present embodiment, the pressing portion 2 (the driving head 3 having the pressing portion 2) is moved by the robot arm 4, and the stud pin 7 is pressed by the pressing portion 2 while being guided by the guide portion 1. A step of driving into the pin hole 94 is provided. At that time, the control unit 6 controls the robot arm 4 so as to change the posture of the pressing unit 2 based on the detected value of the force sensor 5 mechanically connected to the pressing unit 2. Hereinafter, the operation of driving the stud pin 7 will be described with reference to FIGS. 7 to 10.

The driving head 3 is arranged with the axis of the pressing portion 2 facing the tire radial direction (see FIGS. 1 and 2), and the tread surface 93 is in a state where the position of the pressing rod 21 is aligned with the position of the pin hole 94. Can be approached to. FIG. 7 shows how the guide portion 1 has penetrated into the pin hole 94 in the process of bringing the driving head 3 closer to the tread surface 93. When driving the stud pin 7, the guide portion 1 is brought into contact with the tire 9 in this way. By bringing the driving head 3 closer to the tread surface 93 from this state, the stud pin 7 is driven into the pin hole 94 while being guided by the guide portion 1. Ideally, the axis 94a of the pin hole 94 is perpendicular to the tread surface 93, but FIG. 7 shows an example in which the axis 94a of the pin hole 94 is tilted.

In the present embodiment, as described above, the robot arm 4 is controlled so as to change the posture of the pressing portion 2 based on the detected value of the force sensor 5. FIG. 8 is a schematic view showing an example of a posture change of the pressing portion 2. When the force sensor 5 detects the reaction force, the control unit 6 sets the axis 94a of the pin hole 94 to the axis 2a of the pressing unit 2 (by extension, the stud pin 7) based on the direction and magnitude of the reaction force. The robot arm 4 is controlled so as to change the posture of the pressing portion 2 as shown in FIG. 8 by calculating the posture change for matching the axes). As a result, even if the actual pin hole 94 has an irregular shape, the stud pin 7 can be accurately driven into the pin hole 94.

FIG. 9 shows a state in which the posture of the pressing portion 2 is changed, and FIG. 10 shows a state in which the stud pin 7 is driven by the pressing portion 2 in which the posture is changed. The connecting member 25 elastically deforms with the driving operation. Since the stud pin 7 is driven with high accuracy by the posture change of the pressing portion 2 described above, it becomes easy to obtain a desired protrusion height PH (see FIG. 5). For convenience of explanation, the pin holes 94 are exaggerated in FIGS. 7 to 10, but the actual inclination of the pin holes 94 is very small (however, it affects the protrusion height PH) and is relative to the tire radial direction. The stud pin 7 is not greatly inclined. When the stud pin 7 reaches the bottom surface of the pin hole 94, the pressing is completed, and the driving head 3 is moved away from the tread surface 93.

Since the force sensor 5 is mechanically connected to the pressing portion 2, the posture of the stud pin 7 with respect to the pin hole 94 can be controlled via the pressing portion 2 in this way. Attitude control using such a force sensor 5 is performed even during the driving operation. Therefore, if the inner surface shape of the pin hole 94 is not as designed and therefore the stud pin 7 during driving interferes with the inner surface of the pin hole 94, the posture of the pressing portion 2 is such that the stud pin 7 is accurately driven. (By extension, the posture of the stud pin 7) is corrected. When the force sensor 5 detects a force or moment equal to or greater than a predetermined value, an error may be determined as having a problem with the posture of the stud pin 7.

As described above, the pressing portion 2 is mechanically connected to the force sensor 5 attached and fixed to the robot arm 4. In other words, the pressing unit 2 is mechanically connected to a servomotor (servomotors 41b, 42b, etc.) that drives the robot arm 4 via a force sensor 5. Therefore, in the present embodiment, the pressing portion 2 presses the stud pin 7 by the thrust of the servomotor that drives the robot arm 4. According to such a configuration, the force for pressing the stud pin 7 can be adjusted, and the attitude control by the force sensor 5 can be precisely executed. This point is significantly different from the pneumatic stud gun in which the force for pressing the stud pin cannot be adjusted.

Further, in the present embodiment, since the guide portion 1 is elastically connected to the pressing portion 2, the influence of the guide portion 1 on the force sensor 5 when it comes into contact with the tire 9 is suppressed, and as a result, the pressing portion 1 is pressed. The force and moment acting on the unit 2 can be accurately detected by the force sensor 5. That is, in order for the force sensor 5 to accurately detect the force or moment acting on the pressing portion 2 via the stud pin 7, it is possible to suppress the transmission of the force or moment acting on the guide portion 1 to the pressing portion 2. It is effective, and as a method for that purpose, in the present embodiment, the guide portion 1 is elastically connected to the pressing portion 2 via the connecting member 25.

As a modification of the driving head 3, for example, the configurations shown in FIGS. 11 and 12 can be considered. Since these modified examples are configured in the same manner as in the above-described embodiment except for the connecting member that connects the guide portion 1 and the pressing portion 2, the differences will be mainly described by omitting the common points. The same components as those already described will be designated by the same reference numerals, and duplicate description will be omitted.

In the example of FIG. 11, the guide portion 1 and the pressing portion 2 are elastically connected via the connecting member 26. The connecting member 26 is formed of a coil spring as an elastic material. In the example of FIG. 12, the guide portion 1 and the pressing portion 2 are connected via a connecting member 27. The connecting member 27 has a ball joint 28 and a coil spring 29 extrapolated to the shaft portion 28a of the ball joint 28. The upper end of the ball joint 28 is attached to the support member 22, and the lower end thereof is inserted into the insertion hole 12b of the support member 12. It is also possible to use a hinge or the like instead of the ball joint 28.

The present invention is not limited to the above-described embodiment, and various improvements and changes can be made without departing from the spirit of the present invention.

In the above-described embodiment, an example is shown in which the guide portion 1, the pressing portion 2, and (the driving head 3 having) are held by a single robot arm 4, but the present invention is not limited to this. For example, the guide unit 1 and the supply unit 8 may be separated from the pressing unit 2 and held by separate actuators (for example, a robot arm).

In the above-described embodiment, an example in which the reaction force generated in the stud pin 7 is detected by the force sensor 5 is shown, but the present invention is not limited to this. For example, the reaction force generated in the guide portion may be detected by the force sensor, and the posture of the pressing portion may be changed based on the detection. In this case, it is preferable that the guide portion is mechanically connected to the pressing portion. Further, in such a case, a certain effect can be obtained even by using a pneumatic stud gun configured such that the pressing portion presses the stud pin by air pressure.

1 Guide part 2 Pressing part 3 Driving head 4 Robot arm (example of actuator)
5 Force sensor 6 Control unit 7 Stud pin 9 Tire 10 Stud pin driving device 21 Press rod 25 Connection member 41b Servo motor 42b Servo motor 90 Tire support device 93 Tread surface 94 Pin hole

Claims (10)

A guide part that guides the stud pin toward the pin hole of the tire,
A pressing portion that presses the stud pin and drives it into the pin hole,
An actuator for moving the pressing portion is provided.
The pressing portion is a stud pin driving device attached to the actuator via a force sensor. A driving head having a guide portion for guiding the stud pin toward the pin hole of the tire and a pressing portion for pressing the stud pin and driving the stud pin into the pin hole.
An actuator for moving the driving head is provided.
The driving head is a stud pin driving device attached to the actuator via a force sensor. The stud pin driving device according to claim 1 or 2, wherein the force sensor is mechanically connected to the pressing portion. The stud pin driving device according to any one of claims 1 to 3, wherein the pressing portion presses the stud pin by the thrust of a servomotor that drives the actuator. The stud pin driving device according to any one of claims 1 to 4, wherein the guide portion is elastically connected to the pressing portion. It is a manufacturing method of a stud tire that manufactures a stud tire by driving a stud pin into a pin hole of the tire.
A step of moving a pressing portion attached to an actuator via a force sensor, guiding the stud pin with the guide portion, pressing the stud pin with the pressing portion, and driving the stud pin into the pin hole is provided.
A method for manufacturing a stud tire, which comprises controlling the actuator so as to change the posture of the pressing portion based on a detected value of the force sensor. It is a manufacturing method of a stud tire that manufactures a stud tire by driving a stud pin into a pin hole of the tire.
The driving head having a guide portion and a pressing portion and attached to the actuator via a force sensor is moved by the actuator, and the stud pin is pressed by the pressing portion while guiding the stud pin by the guide portion. The step of driving into the pin hole is provided.
A method for manufacturing a stud tire, which comprises controlling the actuator so as to change the posture of the pressing portion based on a detected value of the force sensor. The method for manufacturing a stud tire according to claim 6 or 7, wherein the force sensor is mechanically connected to the pressing portion. The method for manufacturing a stud tire according to any one of claims 6 to 8, wherein the pressing portion presses the stud pin by the thrust of a servomotor that drives the actuator. The method for manufacturing a stud tire according to any one of claims 6 to 9, wherein when the stud pin is driven into the pin hole, the guide portion elastically connected to the pressing portion is brought into contact with the tire.

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