JP7006289B2 - Storage device and storage method for storing the core material in the rack - Google Patents

Description

The present invention relates to an accommodating device and an accommodating method for accommodating a core material in a rack, and more particularly to an accommodating device and an accommodating method capable of efficiently accommodating a core material in a predetermined position of a rack while reducing labor.

Reinforcing wires such as steel cords are used for rubber products such as tires. At the rubber product manufacturing site, the reinforcing wire is wound around a core material called a spool or bobbin and stored in a dedicated rack such as a creel stand (see, for example, Patent Document 1). Reinforcing wires are unwound from the core material housed in the rack and used as needed.

The work of transporting and accommodating a large number of such core materials to a rack is heavy labor and requires a great deal of time. Therefore, Patent Document 1 proposes a device that automates the work of loading and unloading a large number of spools for a creel stand. In the device proposed in Patent Document 1, the heavy spool around which the steel cord is wound is mounted on the loading carriage and transferred to the vicinity of the creel stand, but the work of hanging the spool on the creel shaft of the creel stand is performed. Must be done manually. Therefore, a great deal of labor is still required, and there is room for improvement in order to improve work efficiency.

Japanese Unexamined Patent Publication No. 7-187512

An object of the present invention is to provide a storage device and a storage method for accommodating a core material in a rack, which can efficiently accommodate the core material in a predetermined position of the rack while reducing labor.

In order to achieve the above object, in the accommodating device for accommodating the core material of the present invention in a rack, the tubular or columnar core material has a plurality of engaging portions on at least one end face, and each of the plurality of engaging portions is placed in the rack. By engaging with the holding portion corresponding to each of the installed engaging portions, the outer peripheral portion of the core material is gripped and held in the accommodating device for positioning the core material in its circumferential position and accommodating the core material in the rack. A grip portion for releasing grip, a universal unit for moving the grip portion to an arbitrary position, a control unit for controlling the movement of the flexible unit, and a camera unit connected to the control unit so that captured image data can be input. The control unit calculates the positions of the plurality of engaging portions of the core material based on the image data of one end surface of the core material taken by the camera unit, and grips the outer peripheral portion of the core material. The gripping position by the gripping portion and the calculated position of the plurality of engaging portions are grasped by the control unit, and based on the front view image data around the holding portion taken by the camera unit. The position of each of the holding portions is calculated by the control unit, and as a simulation by the control unit, each of the holding portions whose positions have been calculated has the engaging portion of each of the engaging portions corresponding to the holding portions. When the position in the circumferential direction is aligned and the core material is moved close to each of the holding portions facing each other in the aligned state, the gripping portions gripping the outer peripheral portion of the core material hold each of the holding portions. Only when it is determined whether or not the grip portion interferes with the obstacle around the portion and the grip portion does not interfere with the obstacle, the core material whose outer peripheral portion is gripped by the grip portion faces the core material. The universal unit is used to move the plurality of engaging portions close to each of the holding portions, and the plurality of engaging portions are engaged with the corresponding holding portions to accommodate the core material in the rack. It is characterized by that.

In the accommodating method for accommodating the core material of the present invention in a rack, the tubular or columnar core material has a plurality of engaging portions on at least one end surface, and each of the plurality of engaging portions is installed in the rack. Image data of one end surface of the core material photographed by the camera unit in a housing method in which the core material is positioned in the circumferential position thereof and accommodated in the rack by engaging with the holding portion corresponding to the engaging portion. Is input to the control unit, and based on the image data input to the control unit, the control unit calculates the positions of the plurality of engaging portions of the core material, and grips the outer peripheral portion of the core material. The control unit grasps the gripping position and the calculated position of the plurality of engaging portions, and each holding is based on the front view image data around the holding portion taken by the camera unit. The position of the unit is calculated by the control unit, and as a simulation by the control unit, the circumferential position of each engaging unit corresponding to each holding unit is aligned with each of the holding units for which the position is calculated. When the core material is moved close to each of the opposing holding portions in the aligned state, the gripping portion gripping the outer peripheral portion of the core material causes an obstacle around the respective holding portions. Only when it is determined whether or not the grip portion interferes with the obstacle and the grip portion does not interfere with the obstacle, the core material whose outer peripheral portion is gripped by the grip portion faces the core material. The holding portion is moved close to the holding portion by using a universal unit , and the plurality of engaging portions are engaged with the corresponding holding portions to accommodate the core material in the rack.

According to the present invention, the control unit calculates the positions of a plurality of engaging portions of the core material based on the image data of one end surface of the core material taken by the camera unit, and grips the outer peripheral portion of the core material. The control unit grasps the gripping position and the calculated positions of the plurality of engaging parts by the control unit, and the position of each holding unit is determined by the control unit based on the front view image data around the holding unit taken by the camera unit. By calculating, the position of each engaging portion, the gripping position on the outer peripheral portion of the core material by the gripping portion, and the position of each holding portion can be accurately grasped. Then, as a simulation performed by the control unit, each holding unit facing the core material with the circumferential position of the engaging portion corresponding to each holding unit aligned with each holding unit whose position has been calculated. Since it is determined in advance whether or not the grip portion gripping the outer peripheral portion of the core material interferes with the obstacles around the respective holding portions when the core material is moved close to the grip portion, the grip portion interferes with the obstacles. Therefore, it is possible to prevent the core material from being unable to be stored in the rack. As a result of the simulation, only when the control unit determines that the gripping portion that grips the outer peripheral portion of the core material does not interfere with the obstacle, the actual core material is used for each of the opposing holding portions by using a universal unit. Since the core material is housed in the rack by moving it close to each other and engaging the multiple engaging parts with the corresponding holding parts, the manual work is reduced and the labor is reduced, and the rack is efficiently placed in the predetermined position. Can accommodate heartwood.

It is explanatory drawing which illustrates the accommodating device and rack accommodating a core material in a rack in a side view with a part in cross section. It is explanatory drawing which illustrates the accommodating apparatus and rack of FIG. 1 in a plan view. It is explanatory drawing which illustrates the head which keeps the grip part open in the front view (A arrow view of FIG. 1). It is explanatory drawing which illustrates the head which keeps the grip part of FIG. 3 closed in the front view. It is explanatory drawing which illustrates the rack in the front view. It is explanatory drawing which illustrates another transport box in which the core material is housed in a plan view. It is explanatory drawing which illustrates the accommodating device which holds a core material in a side view with a part in cross section. It is explanatory drawing which illustrates the state in which the engaging portion of the core material is engaged with the holding portion of a rack, with a part thereof as a cross section and viewed from the side. It is explanatory drawing which illustrates the head of FIG. 8 holding a core material in the rear view. It is explanatory drawing which illustrates the state which presses the core material of FIG. 8 toward a rack in a side view with a part as a cross section. It is explanatory drawing which illustrates the core material accommodated in a predetermined position of a rack in a side view with a part as a cross section. It is explanatory drawing which illustrates the state in which the outer peripheral part of the core material accommodated in a rack is gripped by the gripping part, with a part as a cross section in a side view. It is explanatory drawing which illustrates the state which took out the core material of FIG.

Hereinafter, the accommodating device and the method for accommodating the core material of the present invention in the rack will be described based on the embodiment shown in the figure.

The accommodating device 1 exemplified in FIGS. 1 to 4 accommodates a cylindrical or columnar core material 20 at a predetermined position on the rack 14. Specifically, the holding portions 16 and 17 corresponding to the respective engaging portions 21 and 22 installed in the rack 14 are each of the plurality of engaging portions 21 and 22 formed on at least one end surface of the core material 20. By engaging with, the core material 20 is positioned in its circumferential position and accommodated in the rack 14. Further, the accommodating device 1 can remove the core material 20 accommodated in the predetermined position of the rack 14 from the rack 14.

In this embodiment, a bobbin on which a reinforcing wire such as a steel cord is wound as a core 20 is housed in a predetermined position on the rack 14, and a core 20 emptied by feeding out the reinforcing wire is removed from the rack 14. The case of removal will be described as an example. The core material 20 has flanges at both ends of the core, and a center hole 21 serving as an engaging portion is formed in the center of the front view of the core. Further, positioning holes 22 serving as separate engaging portions are formed in the flanges on both end faces of the core. In this embodiment, four positioning holes 22 are formed on each flange. The reinforcing wire is wound around the outer peripheral surface of the core of the core material 20.

The accommodating device 1 includes a grip portion 7 that grips and releases the outer peripheral portion of the core material 20, a universal unit 3 that moves the grip portion 7 to an arbitrary position, and a control unit 11 that controls the movement of the flexible unit 3. The control unit 11 is provided with a camera unit 10 connected so that captured image data can be input. The control unit 11 is a so-called computer, and has an arithmetic unit and a memory. Various data and programs are stored in the memory.

The universal unit 3 is erected on the base 2. The universal unit 3 only needs to be able to move the grip portion 7 to an arbitrary three-dimensional position, and in this embodiment, a so-called industrial robot is adopted. The universal unit 3 has a base portion 3a attached to the base 2, a pillar portion 3b rotatably connected to the base portion 3a, and an arm portion 3c rotatably connected to the pillar portion 3b. .. The base 2 is mounted on the guide rail 12 and can move along the extending direction of the guide rail 12.

A head 4 is rotatably attached to the tip of the arm portion 3c. The head 4 has a frame 5a and 5b, one insertion shaft 6 fixed to the frame 5b, and a grip portion 7 movably attached to the frame 5b. The flat plate-shaped frame 5a and the cross-shaped frame 5b are arranged at intervals in the axial direction of the insertion shaft 6, and the respective frames 5a and 5b are connected by the connecting body 5c.

In this embodiment, the advancing / retreating rod 9 is attached to the frames 5a and 5b. A hydraulic cylinder or the like can be used as the advancing / retreating rod 9. Four advancing / retreating rods 9 are arranged around the insertion shaft 6 at equal intervals in the circumferential direction. The number of advancing / retreating rods 9 may be singular or plural, and may be set to an appropriate number.

The grip portion 7 has a grip claw 7a and an opening / closing drive portion 8 for moving the grip claw 7a in a direction in which the grip claw 7a is moved toward and away from the insertion shaft 6 with the insertion shaft 6 as the center. FIG. 3 shows a state in which the grip claw 7a is moved in a direction away from the insertion shaft 6 (open state), and FIG. 4 shows a state in which the grip claw 7a is moved in a direction close to the insertion shaft 6. Indicates a closed state (closed state).

In this embodiment, the four grip portions 7 are arranged at equal intervals in the circumferential direction with the insertion shaft 6 as the center. In the front view of the head 4, one grip portion 7 is arranged between the advancing / retreating rods 9 adjacent to each other in the circumferential direction. The number of grip portions 7 may be plurality, but it is preferable that three or four grip portions 7 are arranged at equal intervals in the circumferential direction with the insertion shaft 6 as the center. In this embodiment, two gripping claws 7a are arranged on each gripping portion 7 at intervals in the axial direction of the insertion shaft 6. The movements of the advancing / retreating rod 9 and the grip portion 7 are also controlled by the control unit 11.

As the camera unit 10, for example, a digital camera having a resolution of 2 million pixels or more is used. The camera unit 10 is directly or indirectly attached to the universal unit 3 and can be moved to an arbitrary three-dimensional position. A monitor for displaying image data captured by the camera unit 10 can also be provided.

As illustrated in FIG. 5, the rack 14 has a stand frame 15, a plurality of holding shafts 16 and a plurality of positioning shafts 17 installed on the stand frame 15. A brake roller 19 attached to a bracket 18 extending from the stand frame 15 is arranged in the vicinity of the diagonally upper left of each holding shaft 16. One holding shaft 16, one positioning shaft 17, and one brake roller 19 in the vicinity of the holding shaft 16 diagonally above the holding shaft 16 are included in one set.

The holding shaft 16 corresponds to the center hole 21 of the core material 20, and the positioning shaft 17 corresponds to the positioning hole 22 of the core material 20. By engaging the holding shaft 16 with the center hole 21 and engaging the positioning shaft 17 with the positioning hole 22 and pushing the core material 20 toward the stand frame 15, the core material 20 is brought into a predetermined position on the rack 14. Be housed. The core material 20 housed in the predetermined position of the rack 14 can rotate around the holding shaft 16. The brake roller 19 can move close to and away from the core material 20 housed in the predetermined position of the rack 14. The brake roller 19 that has moved close to the core material 20 abuts on the outer peripheral portion of the core material 20 and regulates the rotation of the core material 20 about the holding shaft 16.

Next, a method of accommodating the core material 20 in a predetermined position of the rack 14 by using the accommodating device 1 will be described.

As illustrated in FIGS. 1 and 2, a plurality of core materials 20 are housed in a transport box 13 and transported to a predetermined position. Each core material 20 is arranged with one end face facing up and the other end face facing down. The accommodating device 1 moves along the guide rail 12 to a position near the transport box 13. The universal unit 3 is operated at the moved position, and one end surface of one core material 20 to be accommodated in the rack 14 is photographed by the camera unit 10, and the photographed image data is input to the control unit 11.

Based on the image data of one end surface of the core material 20 taken, the relative positions of the center hole 21 and the positioning hole 22 in the front view of the core material 20 are calculated by the control unit 11. For example, the position coordinates of each positioning hole 22 with respect to the center coordinates of the center hole 21 are calculated, and the relative positions of the center hole 21 and the positioning hole 22 are stored in the control unit 11.

The step of photographing one end surface of the core material 20 and obtaining image data can be performed not only for each core material 20 but also for a plurality of core materials 20 at one time. For example, when a large number of core materials 20 are arranged in a plane and housed in the transport box 13 as shown in FIG. 6, one end surface of a plurality of core materials 20 can be photographed at one time. For example, the entire transport box 13 can be photographed from above to photograph one end face of each core material 20 at a time, or one end face of a preset number of core materials 20 can be photographed at a time. Then, based on the captured image data, the control unit 11 calculates and stores the relative positions of the center hole 21 and the positioning hole 22 in the front view of each core material 20. As a result, the time required to capture one end face of a large number of core materials 20 and acquire image data can be significantly reduced.

Next, as illustrated in FIG. 7, the outer peripheral portion of the core material 20 is gripped by each grip portion 7. More specifically, each grip portion 7 is moved from the open position illustrated in FIG. 3 to the closed position illustrated in FIG. As a result, the outer peripheral portion of one end surface of the core material 20 is gripped by the grip claw 7a on the opposite end side of the two grip claws 7a of each grip portion 7.

The control unit 11 grasps and stores the gripping position (circumferential position) by the gripping portion 7 (grasping claw 7a) on the outer peripheral portion of the core material 20 and the calculated relative positions of the center hole 21 and the positioning hole 22. Next, the universal unit 3 is operated to move the grip portion 7 toward the rack 14 so that the insertion shaft 6 faces the holding shaft 16 at a predetermined position for accommodating the core material 20. Since the movement of the universal unit 3 is controlled by the control unit 11, the three-dimensional position data of the moved grip unit 7 is grasped by the sequential control unit 11.

Then, the camera unit 10 takes a front view of the periphery of the holding shaft 16 and the positioning shaft 17. The photographed image data of the front view around the holding shaft 16 and the positioning shaft 17 is input to the control unit 11. The positions of the holding shaft 16 and the positioning shaft 17 are calculated by the control unit 11 based on the front view image data around the holding shaft 16 and the positioning shaft 17 taken by the camera unit 10.

Next, the control unit 11 performs a simulation. The content of this simulation is to align the circumferential positions of the center hole 21 and the positioning hole 22 corresponding to the holding shaft 16 and the positioning shaft 17 with the holding shaft 16 and the positioning shaft 17 for which the positions have been calculated. Then, when the core material 20 is moved close to the holding shaft 16 and the positioning shaft 17 facing each other in this aligned state, the gripping portion 7 gripping the outer peripheral portion of the core material 20 is held by the holding shaft 16. And, it is determined whether or not it interferes with an obstacle (such as a brake roller 19 or a core material 20 housed adjacent to the brake roller 19) around the positioning shaft 17. The position data of the above-mentioned obstacle is input to the control unit 11 in advance, and the position data of the grip portion 7 that grips the outer peripheral portion of the core material 20 is also sequentially calculated and grasped. The above determination can be made quickly by the processing.

Only when the control unit 11 determines that the grip portion 7 gripping the outer peripheral portion of the core material 20 does not interfere with the above-mentioned obstacle (brake roller 19 or the core material 20 accommodated adjacent to the brake roller 19), the core material 20 Is moved close to the holding shaft 16 and the positioning shaft 17 facing each other by operating the universal unit. More specifically, by activating the universal unit 3, the center hole 21 is inserted into and engaged with the corresponding holding shaft 16 as illustrated in FIGS. 8 and 9. Since the core material 20 is held by the holding shaft 16 by this engagement, the respective grip portions 7 are moved from the closed position to the open position to release the grip on the outer peripheral surface of the core material 20 by the engaging claws 7a. In this embodiment, since the core material 20 has four positioning holes 22, the grip portion 7 does not interfere with the above-mentioned obstacle when the positioning shaft 17 is aligned with any of the positioning holes 22. Determine if there is.

Next, as illustrated in FIG. 10, the advancing / retreating rod 9 at the retracted position is advanced to press one end surface of the core material 20. As a result, the core material 20 (center hole 21) is deeply inserted by the facing holding shaft 16, and the positioning hole 22 is inserted into and engaged with the corresponding positioning shaft 17. As a result, the core material 20 is housed in a predetermined position of the rack 14 as illustrated in FIG.

As described above, the control unit 11 calculates the positions of the center hole 21 and the positioning hole 22 of the core material 20 based on the image data of one end surface of the core material 20 taken by the camera unit 10, and the outer peripheral portion of the core material 20. A front view image of the periphery of the holding shaft 16 and the positioning shaft 17 taken by the camera unit 10 by grasping the gripping position by the gripping portion 7 and the calculated positions of the center hole 21 and the positioning hole 22. A program for calculating the positions of the holding shaft 16 and the positioning shaft 17 based on the data is stored. Therefore, the positions of the center hole 21 and the positioning hole 22, the gripping position on the outer peripheral portion of the core material 20 by the gripping portion 7, and the positions of the holding shaft 16 and the positioning shaft 17 can be accurately grasped.

Then, according to the above-mentioned simulation performed by the control unit 11, when the core material 20 is moved close to the holding shaft 16 and the positioning shaft 17 facing each other, the gripping unit 7 gripping the outer peripheral portion of the core material 20 Since it is determined in advance whether or not it interferes with the obstacles around the holding shaft 16 and the positioning shaft 17, it is possible to prevent the grip portion 7 from interfering with the obstacles and preventing the core material 20 from being accommodated in the rack 14. .. As a result of this simulation, only when the control unit 11 determines that the grip portion 7 gripping the outer peripheral portion of the core material 20 does not interfere with the obstacle, the core material 20 is actually positioned with the holding shaft 16 facing each other. The core material 20 is housed in the rack 14 by moving the center hole 21 and the positioning hole 22 close to the shaft 17 using the universal unit 3 and engaging the center hole 21 and the positioning hole 22 with the corresponding holding shaft 16 and the positioning shaft 17, respectively. The same steps as described above are sequentially performed for the other core materials 20. Therefore, it is possible to efficiently accommodate a large number of core materials 20 in a predetermined position of the rack 14 while reducing manual work and reducing labor as compared with the conventional case.

When the control unit 11 determines that the grip portion 7 gripping the outer peripheral portion of the core material 20 interferes with the above-mentioned obstacle, the grip portion 7 releases the grip on the outer peripheral portion of the core material 20. More specifically, whether or not the grip portion 7 interferes with the above-mentioned obstacle depending on the relative positions of the grip portion 7 on the outer peripheral portion of the core material 20 and the center hole 21 and the positioning hole 22 of the core material 20. I will decide. Therefore, once the grip of the core material 20 is released, the core material 20 is temporarily placed in the temporary storage place with one end face up and the other end face down. Next, based on the front view image data of the periphery of the holding shaft 16 and the positioning shaft 17 taken by the camera unit 10, the circumferential position of the core material 20 gripped by the gripping unit 7 in the outer peripheral portion is changed again. The outer peripheral portion is gripped by the grip portion 7. That is, the outer peripheral portion of the core material 20 is gripped by the grip portion 7 at different grip positions so that the above-mentioned obstacle does not interfere with the grip portion 7 when simulated by the control unit 11 described above.

By re-grasping the outer peripheral portion of the core material 20 by the grip portion 7 in this way, when the above-mentioned simulation is performed again by the control unit 11, the control unit 11 is accommodated in the above-mentioned obstacle (brake roller 19 or adjacent to it). It is determined that the grip portion 7 that grips the outer peripheral portion of the core material 20 does not interfere with the core material 20 or the like. Therefore, the core material 20 is moved close to the holding shaft 16 and the positioning shaft 17 facing each other by operating the universal unit. Thereby, the center hole 21 and the positioning hole 22 can be engaged with the corresponding holding shaft 16 and the positioning shaft 17, and the core material 20 can be accommodated in the predetermined position of the rack 14.

Each grip portion 7 may have a telescopic structure, and the grip portion 7 that extends the gripping core material 20 may be used to press the grip portion 7 toward the rack 14. However, in this configuration, it is necessary to accurately synchronize the extension of each grip portion 7. On the other hand, in this embodiment, the advancing / retreating rod 9 that presses one end surface of the core material 20 is provided independently of the grip portion 7. Therefore, by simply advancing each of the advancing / retreating rods 9 without strictly synchronizing them and moving the core material 20 close to the holding shaft 16 and the positioning shaft 17 facing each other, the core material 20 can be easily determined in the rack 14. Can be accommodated in position.

The procedure for removing the core material 20 housed in the rack 14 from the rack 14 is as follows.

As illustrated in FIG. 12, the universal unit 3 is operated so that the tip of the insertion shaft 6 faces the tip of the holding shaft 16 and the grip portion 7 is moved close to the core material 20 housed in the rack 14. Each grip portion 7 is left in an open position.

Next, of the two gripping claws 7a of each gripping portion 7, the gripping claw 7a on the distal end side is positioned on the outer peripheral side of one end surface of the core material 20, and then each gripping portion 7 is moved to a closed position. As a result, the outer peripheral portion of one end surface of the core material 20 is gripped by the gripping claw 7a on the tip side. Next, the universal unit 3 is operated to horizontally move each grip portion 7 in a direction away from the rack 14, and the core material 20 is removed from the rack 14, as illustrated in FIG.

In this embodiment, as described above, separate gripping claws 7a are used when the core material 20 is housed in the rack 14 and when the core material 20 housed in the rack 14 is taken out from the rack 14. That is, a more suitable gripping claw 7a can be used in each of the case of accommodating the core material 20 and the case of taking it out.

The empty core material 14 from which the reinforcing wire is drawn out is lighter than the core material 14 from which the reinforcing wire is wound. Therefore, when removing the core material 20 from the rack 14, instead of using the four grip portions 7, the number of grip portions 7 to be used can be reduced (for example, only two opposing grip portions 7 are used). By reducing the number of grip portions 7 used in this way, it is advantageous to reduce the risk of the grip portions 7 interfering with obstacles around the core material 14 to be taken out.

As in this embodiment, the grip portion 7 has a grip claw 7a that grips the outer peripheral portion of the core material 20, and an opening / closing drive unit 8 that moves the grip claw 7a in the radial direction of the core material 20. It is advantageous to reduce the space required for opening and closing the grip portion 7. Therefore, it is advantageous to prevent the grip portion 7 from interfering with the above-mentioned obstacle.

The core material 20 to which the present invention is applied is not limited to the spool or bobbin on which the reinforcing wire is wound. A member similar to a spool or bobbin on which a wire is wound, a rigid inner mold (rigid core) used for molding a green tire, and the like can be exemplified as the core material 20. Similar problems as described above may occur when the core material 20 is housed in a predetermined position of the rack 14.

The rigid inner die 20 is a metal member having substantially the same outer peripheral surface as the inner peripheral surface of the finished tire. Unvulcanized rubber and reinforcing wire are wound around the outer circumference of the rigid inner mold 20 to form a green tire. After that, the green tire is placed in a vulcanization mold together with the rigid inner mold 20 and vulcanized. Therefore, in order to vulcanize a green tire, a large number of rigid inner molds 20 are required, and a plurality of types of rigid inner molds 20 having different shapes and sizes of outer peripheral surfaces are required. Therefore, the work of accommodating the rigid inner mold 20 in a predetermined position of the dedicated rack 14 and the work of taking out the rigid inner mold 20 accommodated in the rack 14 can be reduced by using the accommodating device 1. It will be possible to do it efficiently.

1 Accommodating device 2 Base 3 Flexible unit 3a Base 3b Pillar 3c Arm 4 Head 5a 5b Frame 5c Connecting body 6 Insertion shaft 7 Grip 7a Grip claw 8 Open / close drive 9 Advance / retreat rod 10 Camera 11 Control 12 Guide rail 13 Conveyance box 14 Rack 15 Stand frame 16 Holding shaft (holding part)
17 Positioning axis (holding part)
18 Bracket 19 Brake roller (obstacle)
20 Core material 21 Center hole (engagement part)
22 Positioning hole (engagement part)

Claims (6)

The tubular or columnar core material has a plurality of engaging portions on at least one end surface, and each of the plurality of engaging portions is engaged with a holding portion corresponding to each of the engaging portions installed in the rack. As a result, in the accommodating device that positions the core material in its circumferential position and accommodates it in the rack.
A grip portion that grips and releases the outer peripheral portion of the core material, a universal unit that moves the grip portion to an arbitrary position, a control unit that controls the movement of the flexible unit, and captured image data are input to this control unit. Equipped with a camera unit that can be connected,
Based on the image data of one end surface of the core material taken by the camera unit, the control unit calculates the positions of the plurality of engaging portions of the core material, and grips the outer peripheral portion of the core material. The gripping position by the unit and the calculated position of the plurality of engaging portions are grasped by the control unit, and each of the above is based on the front view image data around the holding portion taken by the camera unit. The position of the holding unit is calculated by the control unit,
As a simulation by the control unit, the circumferential position of each of the engagement portions corresponding to the respective holding portions is aligned with each of the holding portions whose positions have been calculated, and the core material is placed in the aligned state. It is determined whether or not the gripping portion that grips the outer peripheral portion of the core material interferes with an obstacle around the holding portion when the holding portion is moved close to each of the holding portions facing each other. Only when it is determined that the grip portion does not interfere with the obstacle, the core material whose outer peripheral portion is gripped by the grip portion is brought close to each of the opposing holding portions by using the universal unit. An accommodating device for accommodating a core material in a rack, characterized in that the plurality of engaging portions are moved and engaged with the corresponding holding portions to accommodate the core material in the rack. When the control unit determines that the grip portion interferes with the obstacle, the grip portion releases the grip on the outer peripheral portion of the core material, and the front view image of the periphery of the holding portion taken by the camera unit. Claim 1 is configured such that the obstacle does not interfere with the grip portion at the time of the simulation by making the position in the circumferential direction of the core material gripped by the grip portion different based on the data. A storage device for accommodating the core material described in the above in a rack. The core material according to claim 1 or 2, which has an advancing / retreating rod for pressing one end surface of the core material and is configured to move the core material close to each of the holding portions facing each other by the advancing / retreating rod, is housed in a rack. Containment device. The core material according to any one of claims 1 to 3, wherein the grip portion has a grip claw that grips the outer peripheral portion of the core material and an opening / closing driving unit that moves the grip claw in the radial direction of the core material. A storage device that houses the rack. The accommodating device for accommodating the core material according to claim 4, wherein the gripping claws are provided at intervals in the separating direction between the end faces of the core material. The tubular or columnar core material has a plurality of engaging portions on at least one end surface, and each of the plurality of engaging portions is engaged with a holding portion corresponding to each of the engaging portions installed in the rack. Thereby, in the accommodating method in which the core material is positioned in its circumferential position and accommodated in the rack.
Image data of one end surface of the core material taken by the camera unit is input to the control unit, and the control unit calculates the positions of the plurality of engaging portions of the core material based on the image data input to the control unit. Then, the control unit grasps the gripping position by the gripping portion that grips the outer peripheral portion of the core material and the calculated position of the plurality of engaging portions, and the periphery of the holding portion photographed by the camera unit. The position of each of the holding units is calculated by the control unit based on the front view image data of the above.
As a simulation by the control unit, the circumferential position of each of the engagement portions corresponding to the respective holding portions is aligned with each of the holding portions whose positions are calculated, and the core material is opposed to each other in the aligned state. It is determined whether or not the gripping portion that grips the outer peripheral portion of the core material interferes with an obstacle around the holding portion when the holding portion is moved close to each of the holding portions. ,
Only when it is determined that the grip portion does not interfere with the obstacle, the core material whose outer peripheral portion is gripped by the grip portion is moved close to each of the opposing holding portions by using a universal unit . A method of accommodating a core material in a rack, which comprises engaging the plurality of engaging portions with the corresponding holding portions to accommodate the core material in the rack.

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