JP6985172B2 - Circular object transfer device - Google Patents

Description

The present invention relates to an annular material transporting device for transporting an annular material such as an endless belt.

For example, in the production process of a transmission belt in which molding, vulcanization, polishing, measuring, etc. are sequentially performed, work of transporting an annular material (belt precursor in the manufacturing process) to the next process and work of waiting on a hanging table (belt). Work such as hanging the precursor on the shaft) and setting on the device in each process (wrapping the belt precursor on two shafts) are performed. Usually, the transportation work of these belt precursors and the like is performed manually by the operator.

On the other hand, there is known a configuration in which goods are automatically transported in a factory by a robot (see, for example, Patent Documents 1 and 2).

Jikkenhei 4-42390 Gazette Japanese Unexamined Patent Publication No. 11-5133

For annular objects such as belts, a transport device for automatically performing transport work between processes is desired. In such a transport device, it is not preferable that the annular material has unnecessary slack when it is hung on the shaft for the next process.

Further, in a plurality of processes, as a hanging table on which an annular object is hung, there are hanging tables having different shaft arrangements, such as a vertical hanging table in which two axes are arranged vertically and a horizontal hanging table in which two axes are arranged horizontally. May be used. In this way, it is preferable to hang the annular object on each of the plurality of types of pedestals without slack.

However, Patent Documents 1 and 2 only disclose a general article transporting device, and cannot be said to disclose a transporting device suitable for transporting an annular material.

An object of the present invention is to solve the above-mentioned problems, and to provide an annular material transporting device capable of more reliably suppressing the occurrence of slack in an annular material.

(1) In order to solve the above problems, the annular material transporting device according to a certain aspect of the present invention includes a hand for transporting a flexible annular material, and the hand grips the annular material. The pair of chucks holds the annular object so that a predetermined region of the annular object arranged between the pair of chucks has a circumference of less than half the circumference of the annular object. It is configured to be gripped, and the annular object is configured to be conveyed by the hand in a state where the pair of chucks linearly stretches the predetermined region.

According to this configuration, the annular object is conveyed by the hand in a state where the pair of chucks linearly stretch a predetermined region of the annular object. By extending the predetermined region in a straight line in this way, it is possible to hang the predetermined region in a straight line on the object (axis or the like) on which the annular object is hung. As a result, it is possible to prevent the annular object from loosening in the object on which the annular object is hung. Further, since the predetermined area is stretched in a straight line when the annular object is conveyed by the pair of arms, the object on which the annular object is hung is, for example, an axial device (vertical biaxial device) arranged vertically. Even with various devices such as shaft devices (horizontal two-axis devices) arranged side by side, it is possible to hang an annular object without slackening. Based on the above, it is possible to realize an annular material transporting device capable of more reliably suppressing the occurrence of slack in the annular material.

(2) Preferably, when the annular object is conveyed, the pair of the arms is arranged so that the distance between the pair of chucks is the circumference of the annular object in the predetermined region.

With this configuration, the annular object can be stretched in a straight line. As a result, the hand can hang the ring-shaped object on the object on which the ring-shaped object is hung in a state where the ring-shaped object is less likely to loosen. Further, the tension acting on the annular object by the hand can be small, and it is possible to suppress the action of an unnecessary load on the annular object.

(3) Preferably, the hand further includes a pair of joints for displacing each of the pair of arms and a base portion that supports the pair of joints, and the arm by the joints. It is configured so that the operation of stretching the annular object is performed by the turning operation.

According to this configuration, a predetermined area of the annular object can be stretched linearly by the operation of turning the arm.

(4) Preferably, the pair of the arms are configured to operate symmetrically with each other.

According to this configuration, the space in which each arm swivels can be reduced. As a result, the space required for the turning operation of the arm can be made more compact.

(5) Preferably, the joint portion tilts the arm so that the joint portion can be hung on the shaft in a state where the predetermined region is tilted with respect to the shaft on which the predetermined region is hung.

According to this configuration, when a predetermined region of the annular object is hung on the shaft, it is possible to prevent the annular object from being hung on the shaft in an unintended posture by catching an unintended portion of the annular object on the shaft. As a result, the portion (inner peripheral surface) of the annular object that is received by the shaft can be more reliably arranged in parallel with the shaft.

(6) Preferably, the hand is further provided with a moving mechanism for moving the pair of the arms.

According to this configuration, by moving the pair of arms at once by the moving mechanism, the annular object can also be moved.

(7) Preferably, when the predetermined area is hung on a predetermined axis, the moving mechanism operates so as to displace the predetermined area along the axial direction of the axis and to displace it so as to approach the axis. It is configured to do.

According to this configuration, when the hand hangs a predetermined area of the annular object on the shaft, the annular object can be slanted and hung on the shaft. As a result, it is possible to prevent the annular object from being hooked on the shaft in an unintended posture by catching an unintended portion of the annular object on the shaft. As a result, the portion (inner peripheral surface) of the annular object that is received by the shaft can be more reliably arranged in parallel with the shaft.

(8) The annular object transporting device further includes a pair of first axes arranged in a predetermined first facing direction and a pair of second axes arranged in a predetermined second facing direction different from the first facing direction. The hand is configured to convey the annular object so that the annular object hung on at least one of the pair of the first axes is hung on at least one of the pair of the second axes. ..

According to this configuration, an annular object can be passed between a plurality of types of shaft devices (a pair of first shafts and a pair of second shafts) having different arrangements of shafts in a state where loosening is suppressed.

(9) Preferably, the first facing direction is a vertical direction, the second facing direction is a horizontal direction, and the pair of the second axes are configured so that the pitch between the axes can be changed. The pair of arms is configured to hang the predetermined region on at least one of the pair of the second axes in a state where the predetermined region is stretched linearly, and the pair of the second axes is said to be the same. The pair of the second axes move relative to each other so that the length between the portions where the predetermined region is hung is shorter than the length of the predetermined region.

According to this configuration, when an annular object is conveyed from the vertical biaxial device (pair of first axes) to the horizontal biaxial device (pair of second axes), it is linear on both of the pair of second axes. It is possible to hang a predetermined area stretched on the. This makes it possible to more reliably suppress the slackening of the annular object in the pair of second axes.

(10) Preferably, the first facing direction is a horizontal direction, the second facing direction is a vertical direction, and the pair of first axes are configured so that the pitch between the axes can be changed. The pair of the first axes are configured to move relative to each other so that the length between the portions of the pair of the first axes on which the predetermined region is hung is shorter than the length of the predetermined region. The pair of arms is configured to grip the annular object so that when the annular object is removed from the pair of the first axes, the predetermined region is stretched in a straight line.

According to this configuration, when the annular object is transported from the horizontal biaxial device (pair of first axes) to the vertical biaxial device (pair of second axes), the annular object is removed from the pair of first axes. From time to time, a linear predetermined region can be formed on the annular object. Then, by applying the predetermined region of the annular object to at least one of the pair of second axes, the slackening of the annular object in the pair of second axes can be suppressed more reliably.

According to the present invention, it is possible to realize an annular material transporting device capable of more reliably suppressing the occurrence of slack in the annular material.

It is a schematic side view of the annular thing transfer apparatus which concerns on 1st Embodiment of this invention. It is a flowchart for demonstrating an example of operation of an annular thing transfer apparatus. (A) is a diagram showing an example of a case where an annular object wound around a pair of first shafts is wound around a pair of second shafts, and shows steps S11 and S12. (B) is a diagram showing step S13. (C) is a diagram showing step S14. (A) is a diagram showing step S15. (B) is a diagram showing step S16. (A) is a side view showing steps S17 and S18, and (B) is a plan view showing steps S17 and S18. (C) is a diagram showing step S19. (A) to (C) are partial cross-sectional side views of a main part showing steps S17 and S18, and show a state in which an annular object is hung on a pair of second axes. (A) is a side view showing a comparative example, and (B) is a plan view of a main part showing the comparative example. It is a schematic side view of the transport device which concerns on 2nd Embodiment of this invention. It is a flowchart for demonstrating an example of the operation of the annular thing transfer apparatus which concerns on 2nd Embodiment. (A) is a diagram showing an example of a case where an annular object wound around a pair of first shafts is wound around a pair of second shafts, and shows step S21. (B) is a diagram showing steps S22 and S23. (C) is a diagram showing step S24. (A) is a diagram showing step S25. (B) is a diagram showing step S26. (C) is a diagram showing steps S27 and S28. (A) and (B) are partial cross-sectional side views of a main part showing steps S27 and S28, and show a state in which an annular object is hung on one of the second axes. (A) is a diagram showing step S29. (B) is a diagram showing step S30. (C) is a diagram showing step S31. It is a schematic side view of the annular thing transfer apparatus which concerns on 3rd Embodiment of this invention. It is a flowchart for demonstrating an example of the operation of the annular thing transfer apparatus which concerns on 3rd Embodiment. It is a flowchart for demonstrating an example of the operation of the 2nd transfer process among the steps shown in FIG.

Hereinafter, embodiments of the present invention will be described.

<First Embodiment>
FIG. 1 is a schematic side view of the annular material transporting device 100 according to the first embodiment of the present invention. With reference to FIG. 1, the annular material transfer device 100 (hereinafter, also simply referred to as a transfer device 100) is used for manufacturing a transmission belt for transmitting power. Examples of such a transmission belt include a V-belt and a flat belt. Further, as the V-belt, a V-belt used for power transmission applications such as general industrial machines and automobiles can be exemplified. More specifically, examples of the above V-belt include a wrapped V-belt, a low-edge V-belt, a V-ribbed belt, and the like. Further, the transmission belt is not limited to the above-mentioned configuration, and may be a belt-shaped (endless annular) belt that can transmit power and has flexibility.

The transport device 100 is used to transport the annular object 200. As the annular product 200, a precursor (manufacturing intermediate) of the transmission belt and a finished product of the transmission belt can be exemplified. As a precursor of the transmission belt, a rubber sheet, a core sheet, an unvulcanized sleeve in which a core wire or a core sheet is sandwiched between a plurality of laminated rubber sheets, and an unvulcanized sleeve are vulcanized. Examples thereof include an endless annular belt sleeve formed, an unvulcanized rubber belt formed by cutting an unvulcanized sleeve in the circumferential direction at predetermined width intervals, and the like. Examples of the finished product of the transmission belt include those formed by vulcanizing an unvulcanized rubber belt and those formed by cutting a belt sleeve by a predetermined width. In the present embodiment, the embodiment in which the annular object 200 is a V-belt as a finished product of the transmission belt will be described as an example. The annular material 200 is a flexible, endless annular thin belt.

The transport device 100 is configured so that when the annular material 200 is transferred from one step to another step, the annular material 200 does not loosen in the other steps.

The transport device 100 includes a first holding device 1, a second holding device 2 adjacent to the first holding device 1, and a hand 3 for transporting the annular object 200 from the first holding device 1 to the second holding device 2. Have.

In the present embodiment, the first holding device 1 is a vertical biaxial device, and is configured to hold the annular object 200 vertically.

The first holding device 1 is a relative distance between a pair of first axes 11 and 12 arranged in a predetermined first facing direction D1, a rotation mechanism 13 for rotating an annular object 200, and a pair of first axes 11 and 12. It has a moving mechanism 14 for changing the above.

The pair of first shafts 11 and 12 are configured to cooperate to hold the annular material 200 while applying tension to the annular material 200. In the present embodiment, the first facing direction D1 is the vertical direction. In this embodiment, the pair of first shafts 11 and 12 each includes a V-groove pulley. The pulleys of the first shafts 11 and 12 form, for example, a groove having a V-shaped cross section, and the annular material 200 is fitted in the groove. Each of the pair of first axes 11 and 12 has a central axis extending horizontally, and extends in parallel with each other in a state of being separated from each other in the first facing direction D1. In this embodiment, the shapes of the first axes 11 and 12 are formed to be the same. The shape of the pair of first shafts 11 and 12 may be different from each other, such as the effective diameter of one first shaft 11 being different from the effective diameter of the other first shaft 12.

The rotation mechanism 13 includes, for example, an electric motor, and by rotating one of the first shafts 11, the annular object 200 wound around the pair of first shafts 11 and 12 is rotated.

The moving mechanism 14 includes a drive source such as, for example, an electric actuator or a hydraulic actuator. In the present embodiment, one first shaft 11 is rotatably supported via a bearing (not shown), and the moving mechanism 14 first opposes the other first shaft 12 with respect to one first shaft 11. Displace in direction D1. As a result, the pair of first axes 11 and 12 are configured so that the pitch between the central axes of each other can be changed. The moving mechanism 14 may be configured to displace one of the first axes 11 or may be configured to displace both of the pair of first axes 11 and 12.

In the first holding device 1 having the above configuration, the annular object 200 is hung on the upper end portions and the lower end portions of the pair of first shafts 11 and 12, and the pair of first shafts 11 and 11 are driven by the rotation mechanism 13. Rotate with 12. Further, in the first holding device 1, the annular object 200 is set to a predetermined value (large value) by the moving mechanism 14 so that the pair of first axes 11 and 12 can be separated from each other. , 12 is stretched under tension. On the other hand, in the first holding device 1, the distance between the pair of first axes 11 and 12 is set to a predetermined value (small value) by the moving mechanism 14. As a result, the annular object 200 is released from the state in which tension is applied to the pair of first shafts 11 and 12, and can be attached to and detached from the pair of first shafts 11 and 12.

In the present embodiment, the second holding device 2 is a horizontal biaxial device, and is configured to hold the annular object 200 in a horizontally long shape.

The second holding device 2 includes a pair of second axes 21 and 22 arranged in a predetermined second facing direction D2 different from the first facing direction D1, a rotation mechanism 23 for rotating the annular object 200, and a pair of second holding devices 2. It has a moving mechanism 24 for changing the relative distance between the two axes 21 and 22.

The pair of second shafts 21 and 22 are configured to work together to apply tension to the annular material 200 while holding the annular material 200. In the present embodiment, the second facing direction D2 is the horizontal direction. Each of the pair of second shafts 21 and 22 includes a V-groove pulley in this embodiment. The pulleys of the second shafts 21 and 22 form, for example, a groove having a V-shaped cross section, and the annular material 200 is fitted in the groove. Each of the pair of second axes 21 and 22 has a central axis extending horizontally, and extends in parallel with each other in a state of being separated from each other in the second facing direction D2. In this embodiment, the shapes of the second axes 21 and 22 are formed to be the same. The shape of the pair of second shafts 21 and 22 may be different from each other, such as the effective diameter of one second shaft 21 being different from the effective diameter of the other second shaft 22.

The rotation mechanism 23 includes, for example, an electric motor, and by rotating one of the second shafts 21, the annular object 200 wound around the pair of second shafts 21 and 22 is rotated.

The moving mechanism 24 includes a drive source such as, for example, an electric actuator or a hydraulic actuator. In this embodiment, one second shaft 21 is rotatably supported via a bearing (not shown), and the moving mechanism 24 has the other second shaft 22 second opposed to the other second shaft 21. Displace in direction D2. As a result, the pair of second axes 21 and 22 are configured so that the pitch between the central axes of each other can be changed. The moving mechanism 24 may be configured to displace one of the second axes 21 or may be configured to displace both of the pair of second axes 21 and 22.

In the second holding device 2 having the above configuration, the annular object 200 is hung on the left end portion and the right end portion of the pair of second shafts 21 and 22, and is driven by the rotation mechanism 23 to form the pair of second shafts 21 and 22. Rotate with. Further, in the second holding device 2, the moving mechanism 24 sets the distance between the pair of second axes 21 and 22 to a predetermined value (large value), so that the annular object 200 has the pair of second axes 21. , 22 is stretched under tension. On the other hand, in the second holding device 2, the distance between the pair of second axes 21 and 22 is set to a predetermined value (small value) by the moving mechanism 24. As a result, the annular object 200 is released from the state in which tension is applied to the pair of second shafts 21 and 22, and can be attached to and detached from the pair of second shafts 21 and 22.

The hand 3 is provided for transporting the flexible annular body 200. The hand 3 is configured to be movable between the first holding device 1 and the second holding device 2 while grasping the annular object 200. The hand 3 is configured to remove the annular material 200 from the pair of first shafts 11 and 12, and then hang the annular material 200 on the pair of second shafts 21 and 22.

The hand 3 has a pair of arms 31, 32, a pair of joints 33, 34 for supporting the pair of arms 31, 32 and displace the pair of arms 31, 32, and a pair of joints 33, 34. It has a base portion 35 for supporting the base portion 35 and a moving mechanism 36 for displacing the base portion 35.

The pair of arms 31, 32 are members extending from the corresponding joints 33, 34, respectively. In the present embodiment, the pair of arms 31 and 32 are formed in a symmetrical shape in the side view shown in FIG. In this embodiment, the arms 31 and 32 are formed in a U shape.

In the present embodiment, the pair of arms 31, 32 includes a linear base end side portions 31a, 32a, a linear intermediate portions 31b, 32b, a linear tip side portions 31c, 32c, and a chuck 31d, 32d. And have.

One end of the proximal end side portions 31a, 32a is supported by the corresponding joint portions 33, 34. When the pair of arms 31 and 32 are in the closed position shown in FIG. 1 (when the arms 31 and 32 are in the position of gripping the annular object 200 hung on the first holding device 1), the base end side portions 31a and 32a are , Extends in a direction that separates them from each other along the horizontal direction.

The intermediate portions 31b and 32b are fixed to the tips of the corresponding proximal end side portions 31a and 32a, and when the pair of arms 31 and 32 are in the closed position, the intermediate portions 31b and 32b are substantially downward from the corresponding proximal end side portions 31a and 32a. It extends straight.

The tip side portions 31c, 32c are fixed to the tips of the corresponding intermediate portions 31b, 32b, and when the pair of arms 31, 32 are in the closed position, the tip side portions 31c, 32c are mutually along the horizontal direction. It extends in the approaching direction. Further, when the pair of arms 31 and 32 are in the closed position, the distance between the distal end side portions 31c and 32c is set to be larger than the distance between the proximal end side portions 31a and 32a. With this configuration, when the pair of arms 31 and 32 are in the closed position, a part of the annular object 200 and one of the first axes 11 are arranged in the region surrounded by the pair of arms 31 and 32. The chucks 31d and 32d are attached to the tips of the tip side portions 31c and 32c.

The chucks 31d and 32d are provided for gripping the annular object 200. The chucks 31d and 32d have, for example, a pair of claw portions 31e and 32e. The claw portions 31e and 32e of the chucks 31d and 32d are configured to be able to grip the annular object 200 over a length of, for example, 30 mm to 60 mm. Further, the distance between the pair of chucks 31d and 32d is set to about 30 mm at the maximum, and the annular material 200 having a thickness equal to or less than this distance can be grasped. The distance between the pair of claw portions 31e and the distance between the pair of claw portions 31e are adjusted according to the thickness of the annular object 200, respectively.

In each chuck 31d, 32d, the pair of claw portions 31e, 31e; 32e, 32e are configured so that the distance between the pair of claw portions 31e, 31e; 32e, 32e can be changed in order to perform an operation of grasping and an operation of releasing the annular object 200. In each chuck 31d, 32d, for example, one or both of the pair of claw portions 31e, 31e; 32e, 32e are configured to be displaceable with respect to the tip side portions 31c, 32c of the corresponding arms 31, 32. As a mechanism for displacing the claw portions 31e, 31e; 32e, 32e with respect to the tip side portions 31c, 32c, various configurations such as a rack and pinion mechanism including a solenoid and an electric motor can be exemplified. The pair of arms 31 and 32 having the above configuration are displaced by the joint portions 33 and 34.

The joints 33 and 34 are configured to cause the pair of arms 31 and 32 to rotate. The joint portions 33 and 34 are formed by using an articulated actuator including an electric actuator. The joint portions 33 and 34 are configured to rotate the arms 31 and 32 corresponding to at least one axis, respectively, and in the present embodiment, the arms 31 and 32 corresponding to two axes are rotated. In the present embodiment, one of the two axes is the first swivel axis X1 extending in the horizontal direction (front-back direction in FIG. 1) parallel to the axial direction of the first axes 11 and 12, and the other is the first. It is the second turning axis X2 extending in the horizontal direction (the left-right direction in FIG. 1) parallel to the direction orthogonal to the axial direction of the axes 11 and 12.

The pair of joint portions 33, 34 are configured to perform output operations that are symmetrical to each other. Further, the chucks 31d and 32d are configured to operate in synchronization with each other. With such a configuration, the pair of arms 31 and 32 operate symmetrically (in the present embodiment, left-right symmetry). Since the pair of joint portions 33 and 34 are supported by the base portion 35, the pair of joint portions 33 and 34 are integrally displaced from the base portion 35.

The base portion 35 is, for example, a block-shaped member that supports the load of the pair of arms 31 and 32, and is moved between the first holding device 1 and the second holding device 2 by the moving mechanism 36.

The moving mechanism 36 is provided to collectively move the base portion 35 and the pair of arms 31 and 32. The moving mechanism 36 is arranged, for example, on the rear side of the base portion 35. The configuration of the moving mechanism 36 is not particularly limited, and examples thereof include a configuration including a robot arm device, a rail, a carriage traveling on the rail, and an elevating mechanism attached to the carriage. In the present embodiment, the moving mechanism 36 is configured to be able to move the base portion 35 (a pair of arms 31, 32) in the front-back direction, the left-right direction, and the up-down direction in three axial directions. The moving mechanism 36 may at least be able to move the pair of arms 31 and 32 between the pair of first axes 11 and 12 and the pair of second axes 21 and 22.

The first holding device 1, the second holding device 2, and the hand 3 are driven and controlled by a control device (not shown) such as a computer.

Next, an example of the operation of the transport device 100 will be described with reference to FIG.

FIG. 2 is a flowchart for explaining an example of the operation of the annular object transporting device 100. In the following, when the explanation is made with reference to the flowchart, the drawings other than the flowchart will be referred to as appropriate.

In the present embodiment, a case where the annular object 200 wound around the pair of first shafts 11 and 12 is wound around the pair of second shafts 21 and 22 will be described as an example. First, as shown in FIG. 3A, the transport device 100 arranges a pair of arms 31 and 32 closed at a closed position at a position adjacent to the first holding device 1 (step S11). Next, the annular object 200 wound around the pair of first shafts 11 and 12 of the first holding device 1 is grasped by the pair of chucks 31d and 32d (step S12). At this time, the pair of chucks 31d and 32d grip a predetermined position of the annular object 200 near the first axis 11 of one of the pair of first axes 11 and 12. As a result, the pair of chucks 31d and 32d grip the annular material 200 so that the predetermined region 201 of the annular material 200 arranged between the pair of chucks 31d and 32d has a circumference of less than half the circumference of the annular material 200.

Next, as shown in FIG. 3B, the other first axis 12 is moved toward the first axis 11 side by the drive of the moving mechanism 14, so that the central axes of the pair of first axes 11 and 12 are aligned. The pitch between them is reduced (step S13). As a result, the annular body 200 is separated from the other first axis 12. Then, as shown in FIG. 3C, the annular body 200 is removed from one of the first shafts 11 by the operation of the moving mechanism 36 (step S14). For example, after the moving mechanism 36 performs an operation of lifting the pair of arms 31 and 32 upward, the pair of arms 31 and 32 are moved in a direction parallel to the axial direction of the first axes 11 and 12, so that the annular object is formed. 200 is removed from one of the first axes 11.

Next, as shown in FIG. 4A, the pair of arms 31 and 32 are opened by the operation of turning the pair of arms 31 and 32 around the first turning axis X1 by the joint portions 33 and 34. A predetermined region 201 of the annular body 200 is linearly stretched (step S15). In this way, when the annular object 200 is conveyed, the pair of arms 31 and 32 are arranged so that the distance α between the pair of chucks 31d and 32d is the peripheral length β of the annular object 200 in the predetermined region 201. ..

Next, as shown in FIG. 4B, the moving mechanism 36 moves the base portion 35 from the position adjacent to the first holding device 1 to the position adjacent to the second holding device 2, thereby pairing the arms. The 31, 32 and the annular object 200 are adjacent to the pair of second axes 21 and 22 of the second holding device 2 (step S16). At this time, the hand 3 conveys the annular object 200 with the pair of chucks 31d and 32d keeping the predetermined area 201 stretched linearly.

Next, FIGS. 5 (A), 5 (B), 6 (A), 6 (B) and 6 (C) show how the annular object 200 is hung on the pair of second axes 21 and 22. As shown, the hand 3 tilts the annular object 200 with respect to the pair of second axes 21 and 22 (step S17). Specifically, the joint portions 33 and 34 correspond to the pair of second axes 21 and 22 in a state where the predetermined region 201 is tilted diagonally with respect to the central axis of the second axes 21 and 22. The arms 31 and 32 are swiveled around the second swivel shaft X2. At this time, in the joint portions 33, 34, the outer peripheral surfaces of the annular objects 200 in the predetermined region 201 form an angle of, for example, about 45 degrees with respect to the central axis of the second axes 21 and 22 with respect to the corresponding arms 31 and 32. Tilt like. As a result, the predetermined area 201 of the annular object 200 is arranged on the front side of the hand 3, and the portion of the annular object 200 other than the predetermined area 201 hangs down on the rear side (moving mechanism 36 side) of the hand 3.

Next, the predetermined region 201 of the annular body 200 is hung on the pair of second axes 21 and 22 by the pair of arms 31 and 32 in a state of being stretched linearly (step S18). At this time, the length L1 between the portion of the pair of second axes 21 and 22 where the predetermined region is hung (between the upper ends of the pair of second axes 21 and 22) becomes shorter than the length α of the predetermined region 201. As described above, the pair of second axes 21 and 22 are moved relative to each other in advance by the moving mechanism 24. At this time, the movement of the moving mechanism 36 causes the entire hand 3 to move toward the second axes 21 and 22. More specifically, the moving mechanism 36 displaces the annular object 200 along the axial direction of the pair of second axes 21 and 22, and the annular object in the direction orthogonal to the second axes 21 and 22 (vertical direction). The hand 3 is moved so that the 200 approaches the pair of second axes 21 and 22. As a result, the predetermined region 201 of the annular body 200 is fitted into the pair of second shafts 21 and 22 from one side of the pair of V-groove portions of each of the second shafts 21 and 22. Then, when the pair of chucks 31d and 32d separate the annular material 200, the annular material 200 is placed in a straight posture between the pair of flanges on each of the second axes 21 and 22 as shown in FIG. 5 (B). Be taken.

With such a configuration, the hand 3 mounts the annular object 200 so that the annular object 200 hung on at least one of the pair of first axes 11 and 12 is hung on at least one of the pair of second axes 21 and 22. Transport.

After the annular object 200 is hung on the pair of second axes 21 and 22, the hand 3 retracts from the pair of second axes 21 and 22, and as shown in FIG. 5C, the pair of second axes 21, By widening the distance between the 22s by the moving mechanism 24, the annular object 200 is stretched on the pair of second axes 21 and 22 (step S19). The above is an example of transporting the annular material 200 by the annular material transporting device 100.

As shown in FIG. 7A, it is conceivable that when the pair of arms 31'and 32' are opened, the predetermined region 201'is not stretched linearly but is wavy. In this case, when the pair of arms 31', 32'hangs the annular object 200'on the pair of second axes 21', 22', the annular object 200, as shown in FIGS. 7 (A) and 7 (B). The'is undulated and hung on a pair of second axes 21'and 22'. As a result, the annular material 200'is slackened.

On the other hand, according to the present embodiment, the annular object 200 is conveyed by the hand 3 in a state where the pair of chucks 31d and 32d linearly stretch the predetermined region 201 of the annular object 200. By extending the predetermined region 201 in a straight line in this way, the linear predetermined region 201 can be hung on the pair of second axes 21 and 22 on which the annular object 200 is hung. As a result, it is possible to prevent the annular material 200 from loosening in the pair of second axes 21 and 22 on which the annular material 200 is hung. Further, since the predetermined area 201 is linearly stretched at the time when the annular object 200 is conveyed by the pair of arms 31 and 32, the objects on which the annular object 200 is hung are arranged on the left and right of the second axis 21. Even the second holding device 2 (horizontal biaxial device) having 22 can hang the annular object 200 without slackening. Based on the above, it is possible to realize the annular material transporting device 100 that can more reliably suppress the occurrence of slack in the annular material 200.

Further, according to the present embodiment, when the annular object 200 is conveyed, the pair of arms 31 and 32 have a distance α between the pair of chucks 31d and 32d such that the circumferential length β of the annular object 200 in the predetermined region 201. Placed in. With this configuration, the annular object 200 can be stretched in a straight line. As a result, the hand 3 can hang the annular object 200 on the pair of second axes 21 and 22 on which the annular object 200 is hung in a state where the annular object 200 is less likely to loosen. Further, the tension acting on the annular object 200 by the hand 3 can be small, and it is possible to suppress the action of an unnecessary load on the annular object 200.

Further, according to the present embodiment, the operation of stretching the annular object 200 is performed by the turning operation of the pair of arms 31 and 32 by the pair of joint portions 33 and 34. According to this configuration, the predetermined region 201 of the annular object 200 can be stretched linearly by the operation of turning the arms 31 and 32.

Further, according to the present embodiment, the pair of arms 31 and 32 are configured to perform symmetrical movements (the left-right symmetrical movements in FIG. 1). According to this configuration, the space in which the arms 31 and 32 rotate can be reduced. As a result, the space required for the turning operation of the arms 31 and 32 can be made more compact.

Further, according to the present embodiment, the pair of joint portions 33, 34 tilts the pair of arms 31, 32 in order to hang the joint portions 33, 34 in a state where the predetermined region 201 is tilted with respect to the second axes 21 and 22. According to this configuration, when the predetermined region 201 of the annular object 200 is hung on the pair of second axes 21 and 22, an unintended portion of the annular object 200 is caught on the second axes 21 and 22, so that the annular object 200 becomes the first. It is possible to prevent the two axes 21 and 22 from being hung in an unintended posture. As a result, the portion (inner peripheral surface) of the annular object 200 that is received by the second axes 21 and 22 can be more reliably arranged in parallel with the second axes 21 and 22.

Further, according to the present embodiment, the annular object 200 can also be moved by moving the pair of arms 31 and 32 collectively by the moving mechanism 36.

Further, according to the present embodiment, when the predetermined area 201 is hung on the pair of the second axes 21 and 22, the predetermined area 201 is displaced along the axial direction of the second axes 21 and 22 while the second axis 21 and The moving mechanism 36 operates so as to be displaced so as to approach 22. According to this configuration, when the hand 3 hangs the predetermined area 201 of the annular object 200 on the second axes 21 and 22, the annular object 200 can be slanted and hung on the second axes 21 and 22. As a result, it is possible to prevent the annular material 200 from being hooked on the second shafts 21 and 22 in an unintended posture (tilted posture) by catching an unintended portion of the annular material 200 on the second shafts 21 and 22. As a result, the portion (inner peripheral surface) of the annular object 200 that is received by the second axes 21 and 22 can be more reliably arranged in parallel with the second axes 21 and 22.

Further, according to the present embodiment, the hand 3 is an annular object such that the annular object 200 hung on at least one of the pair of first axes 11 and 12 is hung on at least one of the pair of second axes 21 and 22. Transport 200. According to this configuration, the annular material 200 is suppressed from loosening between a plurality of types of shaft devices (a pair of first shafts 11 and 12 and a pair of second shafts 21 and 22) having different shaft arrangements. Can be passed.

Further, according to the present embodiment, the pair of arms 31 and 32 are configured to hang the predetermined region 201 on at least one of the pair of second axes 21 and 22 in a state where the predetermined region 201 is stretched linearly. , The pair of second axes 21 and 22 so that the length L1 between the portions (upper ends) where the predetermined region 201 is hung out of the pair of second axes 21 and 22 is shorter than the length α of the predetermined region 201. Moves relative to each other. According to this configuration, when the annular object 200 is conveyed from the vertical biaxial device (pair of first axes 11 and 12) to the horizontal biaxial device (pair of second axes 21 and 22), the pair of second axes is transported. A predetermined area 201 stretched in a straight line can be hung on both of the shafts 21 and 22. This makes it possible to more reliably suppress the slackening of the annular material 200 in the pair of second axes 21 and 22.

<Second Embodiment>
Next, a second embodiment of the present invention will be described. In the following, the points different from those of the first embodiment will be mainly described, and the same components as those of the first embodiment are designated by the same reference numerals and detailed description thereof will be omitted.

FIG. 8 is a schematic side view of the annular material transporting device 100A according to the second embodiment of the present invention. With reference to FIG. 8, the annular object transporting device 100A (hereinafter, also simply referred to as a transporting device 100A) is transferred from the first holding device 1A, which is a horizontal biaxial device, to the second holding device 2A, which is a vertical biaxial device. It is configured to carry the annular material 200. Further, in the present embodiment, a mode in which the transport device 100A transports the flat belt as the annular object 200A will be described as an example.

The transport device 100A includes a first holding device 1A, a second holding device 2A adjacent to the first holding device 1A, and a hand 3A for transporting the annular object 200A from the first holding device 1A to the second holding device 2A. Have.

In the present embodiment, the first holding device 1A is a horizontal biaxial device, and is configured to hold the annular object 200A in a horizontally long shape.

The first holding device 1A includes a pair of first axes 11A and 12A arranged in a predetermined first facing direction D1A different from the second facing direction D2A, a rotation mechanism 13A for rotating the annular object 200A, and a pair of first holding devices 1A. It has a moving mechanism 14A for changing the relative distances of the axes 11A and 12A.

The pair of first shafts 11A and 12A are configured to cooperate with each other to apply tension to the annular material 200A while holding the annular material 200A. In the present embodiment, the first facing direction D1A is the horizontal direction. The pair of first shafts 11A and 12A each include a flanged pulley in this embodiment. The pulleys of the first shafts 11A and 12A form, for example, a groove having a rectangular cross section, and the annular material 200A is fitted in the groove. The pair of first axes 11A and 12A each have a central axis extending horizontally, and extend in parallel with each other in a state of being separated from the first facing direction D1A. In this embodiment, the shapes of the first axes 11A and 12A are formed to be the same. The shape of the pair of first shafts 11A and 12A may be different from each other, such that the effective diameter of one first shaft 11A is different from the effective diameter of the other first shaft 12A.

The rotation mechanism 13A includes, for example, an electric motor, and by rotating one of the first shafts 11A, the annular object 200A wound around the pair of first shafts 11A, 12A is rotated.

The moving mechanism 14A includes a drive source such as, for example, an electric actuator or a hydraulic actuator. In this embodiment, one first shaft 11A is rotatably supported via a bearing (not shown), and the moving mechanism 14A first opposes the other first shaft 12A to one first shaft 11A. Displace in direction D1A. As a result, the pair of first axes 11A and 12A are configured so that the pitch between the central axes of each other can be changed. The moving mechanism 14A may be configured to displace one of the first axes 11A, or may be configured to displace both of the pair of first axes 11A and 12A.

In the first holding device 1A having the above configuration, the annular object 200A is hung on the left end portion and the right end portion of the pair of first shafts 11A, 12A, and the pair of first shafts 11A, It rotates with 12A. Further, in the first holding device 1A, the distance between the pair of the first axes 11A and 12A is set to a predetermined value (large value) by the moving mechanism 14A, so that the annular object 200A becomes the pair of the first axes 11A. , 12A is stretched under tension. On the other hand, in the first holding device 1A, the interval between the pair of first axes 11A and 12A is set to a predetermined value (small value) by the moving mechanism 14A. As a result, the annular object 200A is released from the state in which tension is applied to the pair of first shafts 11A and 12A, and can be attached to and detached from the pair of first shafts 11A and 12A.

In the present embodiment, the second holding device 2A is a vertical biaxial device, and is configured to hold the annular object 200A vertically.

The second holding device 2A is a relative distance between a pair of second shafts 21A and 22A arranged in a predetermined second facing direction D2A, a rotation mechanism 23A for rotating the annular object 200A, and a pair of second shafts 21A and 22A. It has a moving mechanism 24A for changing the above.

The pair of second shafts 21A and 22A are configured to cooperate with each other to apply tension to the annular material 200A while holding the annular material 200A. In the present embodiment, the second facing direction D2A is the vertical direction. The pair of second shafts 21A and 22A each include a flanged pulley in this embodiment. The pulleys of the second shafts 21A and 22A form, for example, a groove having a rectangular cross section, and the annular material 200A is fitted in the groove. The pair of second axes 21A and 22A each have a central axis extending horizontally, and extend in parallel with each other in a state of being separated from each other in the second facing direction D2A. In this embodiment, the shapes of the second axes 21A and 22A are formed to be the same. The shape of the pair of second shafts 21A and 22A may be different from each other, such as the effective diameter of one second shaft 21A being different from the effective diameter of the other second shaft 22A.

The rotation mechanism 23A includes, for example, an electric motor, and by rotating one of the second shafts 21A, the annular object 200A wound around the pair of second shafts 21A and 22A is rotated.

The moving mechanism 24A includes a drive source such as, for example, an electric actuator or a hydraulic actuator. In this embodiment, one second shaft 21A is rotatably supported via a bearing (not shown), and the moving mechanism 24 has the other second shaft 22A second opposed to the other second shaft 21A. Displace in direction D2A. As a result, the pair of second axes 21A and 22A are configured so that the pitch between the central axes of each other can be changed. The moving mechanism 24A may be configured to displace one of the second shafts 21A, or may be configured to displace both of the pair of second shafts 21A and 22A.

In the second holding device 2 having the above configuration, the annular object 200A is hung on the upper end and the lower end of the pair of second shafts 21A and 22A, and is driven by the rotation mechanism 23A together with the pair of second shafts 21A and 22A. Rotate. Further, in the second holding device 2A, the distance between the pair of the second shafts 21A and 22A is set to a predetermined value (large value) by the moving mechanism 24A, so that the annular object 200A becomes the pair of the second shafts 21A. , 22A is stretched under tension. On the other hand, in the second holding device 2A, the distance between the pair of second axes 21A and 22A is set to a predetermined value (small value) by the moving mechanism 24A. As a result, the annular object 200A is released from the state in which tension is applied to the pair of second shafts 21A and 22A, and can be attached to and detached from the pair of second shafts 21A and 22A.

The hand 3A has substantially the same configuration as the hand 3 in the first embodiment. However, the lengths of the proximal end side portions 31aA, 32aA in the pair of arms 31A, 32A of the hand 3A of the present embodiment are longer than the lengths of the corresponding proximal end side portions 31a, 32a in the first embodiment. .. Further, the lengths of the intermediate portions 31bA and 32bA in the pair of arms 31A and 32A of the hand 3A of the present embodiment are longer than the lengths of the corresponding intermediate portions 31b and 32b in the first embodiment.

Next, an example of the operation of the transfer device 100A will be described with reference to FIG.

FIG. 9 is a flowchart for explaining an example of the operation of the annular object transporting device 100A. In the following, when the explanation is made with reference to the flowchart, the drawings other than the flowchart will be referred to as appropriate.

In the present embodiment, a case where the annular material 200A wound around the pair of first shafts 11A and 12A is wound around the pair of second shafts 21A and 22A will be described as an example. First, as shown in FIG. 10A, the pitches of the pair of first axes 11A and 12A are shortened (step S21). At this time, the length L1A between the portions of the pair of first axes 11A and 12A where the predetermined region 201A is hung is shorter than the length αA of the predetermined region 201A (FIG. 10 (C)). The pair of first axes 11A and 12A are relatively moved by the moving mechanism 14A.

Next, as shown in FIG. 10B, the transport device 100A arranges a pair of arms 31A, 32A closed in a closed position at a position adjacent to the first holding device 1A (step S22). Next, the annular object 200A wound around the pair of first shafts 11A and 12A of the first holding device 1A is grasped by the pair of chucks 31d and 32d (step S23). At this time, the pair of chucks 31d and 32d grip the annular material 200A so that the predetermined region 201A of the annular material 200A arranged between the pair of chucks 31d and 32d has a circumference less than half the circumference of the annular material 200A.

Next, as shown in FIG. 10 (C), the pair of arms 31A and 32A are opened by the operation of turning the pair of arms 31A and 32A around the first turning axis X1 by the joint portions 33 and 34. A predetermined region 201A of the annular body 200A is linearly stretched (step S24). As a result, when the annular material 200A is removed from the pair of first shafts 11A and 12A, the pair of arms 31A and 32A grip the annular material 200A so that the predetermined region 201A is stretched linearly. Further, when the annular material 200A is conveyed, the pair of arms 31A and 32A are arranged so that the distance αA between the pair of chucks 31d and 32d is the peripheral length βA of the annular material 200A in the predetermined region 201A. At this time, the annular material 200A is removed from the pair of first shafts 11A and 12A by the operation of the pair of arms 31A and 32A.

Then, as shown in FIG. 11A, the annular body 200A is removed from the first holding device 1A by the operation of the moving mechanism 36 (step S25). For example, the moving mechanism 36A moves the pair of arms 31A and 32A in a direction parallel to the axial direction of the first axis 11A, so that the annular object 200A is displaced from the periphery of the pair of first axes 11A and 12A. After that, the moving mechanism 36A moves the pair of arms 31A and 32A upward.

Next, as shown in FIG. 11B, the moving mechanism 36 moves the base portion 35 from the position adjacent to the first holding device 1A to the position adjacent to the second holding device 2A. As a result, the pair of arms 31A and 32A and the annular object 200A are adjacent to the pair of second axes 21A and 22A of the second holding device 2A (step S26). At this time, the hand 3A conveys the annular object 200A with the pair of chucks 31d and 32d keeping the predetermined area 201A stretched linearly.

Next, as shown in FIGS. 11 (C), 12 (A) and 12 (B) showing how the annular material 200A is hung on the pair of second axes 21A and 22A, the hand 3A holds the annular material 200A. Tilt with respect to the pair of second axes 21A and 22A (step S27). Specifically, the joint portions 33 and 34 correspond to the arms 31A and 32A in order to hang the predetermined region 201A on one of the second axes 21A in a state of being tilted obliquely with respect to the central axis of the second axis 21A. Is swiveled around the second swivel axis X2. At this time, the joint portions 33, 34 have the corresponding arms 31, 32A so that the outer peripheral surface of the annular object 200A in the predetermined region 201A forms an angle of, for example, about several tens of degrees with respect to the central axis of the second axis 21A. To tilt. As a result, the predetermined area 201A of the annular body 200A is arranged on the front side of the hand 3A, and the portion of the annular body 200A other than the predetermined area 201A hangs down on the rear side (moving mechanism 36 side) of the hand 3A.

Next, the predetermined region 201A of the annular body 200A is hung on one of the second shafts 21A by a pair of arms 31A and 32A in a state of being stretched linearly (step S28). At this time, the pair of second axes 21A and 22A are moved relative to each other in advance by the moving mechanism 24A so that the length between the central axes of the pair of second axes 21A and 22A is shorter than the length when the annular object 200A is stretched. Has been done. At this time, the movement of the moving mechanism 36 causes the entire hand 3A to move toward the second axis 21A. More specifically, in the moving mechanism 36, the annular object 200A is displaced along the axial direction of the second axis 21A, and the annular object 200A is the second axis 21A in the direction orthogonal to the second axis 21A (vertical direction). Move the hand 3A so that it approaches. As a result, the predetermined region 201A of the annular body 200A is fitted to the second shaft 21A from one side of the pair of flange portions of the second shaft 21A.

Next, as shown in FIG. 13A, when the pair of arms 31A and 32A are closed from the open position to the closed position (step S29), a part of the predetermined region 201A of the annular body 200A becomes one of the first. It is stretched on the 2-axis 21A. Next, the pair of chucks 31d and 32d are separated from the annular object 200A, and the hand 3A is retracted with respect to the pair of second axes 21A and 22A by the operation of the joint portions 33 and 34 and the moving mechanism 36 (step S30). As a result, as shown in FIG. 13B, the annular object 200A is suspended from one of the second shafts 21A.

After the annular material 200A is hung on one of the second shafts 21A, the moving mechanism 24A widens the distance between the pair of second shafts 21A and 22A as shown in FIG. 13C, whereby the annular material 200A is formed. It is stretched on a pair of second shafts 21A and 22A (step S31).

With such a configuration, the hand 3A attaches the annular object 200A so as to hang the annular object 200A hung on at least one of the pair of first axes 11A and 12A on at least one of the pair of second axes 21A and 22A. Transport.

The above is an example of transporting the annular material 200A by the annular material transporting device 100A.

Also in this case, as in the case of the first embodiment, it is possible to more reliably suppress the occurrence of slack in the annular material A.

Further, according to the second embodiment, when the annular object 200A is conveyed from the horizontal biaxial device (pair of first axes 11A, 12A) to the vertical biaxial device (pair of second axes 21A, 22A), From the time when the annular material 200A is removed from the pair of first axes 11A, 12A, a linear predetermined region 201A can be formed on the annular material 200A. Then, by hanging the predetermined region 201A of the annular material 200A on at least one of the pair of second shafts 21A and 22A, the slackening of the annular material 200A in the pair of second shafts 21A and 22A can be more reliably suppressed.
<Third Embodiment>

Next, a third embodiment of the present invention will be described. In the following, the differences from the first embodiment and the second embodiment will be mainly described, and the same configurations as those of the first embodiment and the second embodiment will be designated by the same reference numerals in the drawings. , By referring to the same reference numerals, detailed description thereof will be omitted.

FIG. 14 is a schematic side view of the annular material transporting device 100B according to the third embodiment of the present invention. With reference to FIG. 14, the annular object transporting device 100B (hereinafter, also simply referred to as a transporting device 100B) is transferred from the first holding device 1 which is a vertical biaxial device to the second holding device 2 which is a horizontal biaxial device. It is configured to convey the annular material 200B and is configured to convey the annular material 200B from the second holding device 2 which is a horizontal biaxial device to the first holding device 1 which is a vertical biaxial device. There is. That is, the transport device 100B transports the annular material 200B from the first shafts 11 and 12 of the first holding device 1 to the second shafts 21 and 22 of the second holding device 2, and further, the second holding device 2 second. The annular material 200B is configured to be conveyed from the shafts 21 and 22 to the first shafts 11 and 12 of the first holding device 1.

Further, when the annular object 200B is transported from the first holding device 1 to the second holding device 2, the transport device 100B operates in the same manner as the transport device 100 of the first embodiment, and the second holding device 2 to the second holding device 2 to the first. 1 When the annular object 200B is transported to the holding device 1, it operates in the same manner as the transport device 100A of the second embodiment. Further, in the present embodiment, a mode in which the annular material transporting device 100B transports the unvulcanized rubber belt as the annular material 200B will be described as an example.

The transport device 100B has the same configuration as the transport device 100 of the first embodiment, and includes a first holding device 1, a second holding device 2 adjacent to the first holding device 1, and a hand 3A. is doing. The hand 3A is configured to convey the annular material 200B from the first holding device 1 to the second holding device 2 and to convey the annular material 200B from the second holding device 2 to the first holding device 1. .. The transport device 100B has a configuration different from that of the transport device 100 of the first embodiment in the configuration of the hand 3B.

The hand 3B for transporting the annular object 200B in the transport device 100B supports the pair of arms 31B, 32B and the pair of arms 31B, 32B, and the pair of joint portions 33, for displacing the pair of arms 31B, 32B. It has a base portion 35 that supports the pair of joint portions 33, 34, and a moving mechanism 36 for displacing the base portion 35.

The pair of arms 31B and 32B have substantially the same configuration as the pair of arms 31 and 32 of the first embodiment, and have a linear base end side portions 31aB and 32aB and a linear intermediate portions 31b and 32b. , Has linear tip side portions 31c, 32c, and chucks 31d, 32d. However, the pair of arms 31B, 32B of the present embodiment has a configuration different from that of the pair of arms 31, 32 of the first embodiment in the proximal end side portions 31aB, 32aB.

Unlike the proximal end side portions 31a and 32a of the first embodiment, the proximal end side portions 31aB and 32aB are in the axial direction of the proximal end side portions 31aB and 32aB in which the proximal end side portions 31aB and 32aB extend linearly. It is configured to be stretchable along. For example, each of the base end side portions 31aB and 32aB is configured as a mechanism including a cylinder and a rod that operate by supplying and discharging a working fluid as compressed air or pressure oil. Each of the proximal end side portions 31aB and 32aB is configured so that the rod extends from the cylinder with the supply and discharge of the working fluid, so that the length becomes longer along the axial direction thereof. Each of the proximal end side portions 31aB and 32aB is configured so that the length of each of the proximal end side portions 31aB and 32aB is shortened along the axial direction by degeneracy of the rod with respect to the cylinder as the working fluid is supplied and discharged. Further, each of the base end side portions 31aB and 32aB may be configured to be expandable and contractible along the axial direction by having a rack and pinion mechanism or a ball screw mechanism.

Next, an example of the operation of the transport device 100B will be described. In the operation of the transport device 100B, the following processing is performed on the annular object 200B. First, by operating the transport device 100B, the annular object 200B rotates in a state of being wound around the pair of first shafts 11 and 12. At this time, a skive treatment step described later is performed in which the annular object 200B is skived. Then, after the skive processing step, the annular material 200B is conveyed to the pair of second shafts 21 and 22. Next, the annular object 200B rotates in a state of being wound around the pair of second shafts 21 and 22. At this time, a cover winding step described later is performed in which the outer cover is wound around the annular material 200B. After this cover winding step, it is conveyed to the first shafts 11 and 12. Further, the annular material 200B transported to the first shafts 11 and 12 is inspected to determine whether or not the size is suitable for the vulcanization die.

In the operation method of the transport device 100B, in the transport device 100B, a step of transporting the annular object 200B from the first shafts 11 and 12 to the second shafts 21 and 22 and a step of transporting the annular material 200B from the second shafts 21 and 22 to the first shafts 11 and 12 The process of transporting to is performed. Further, in addition to these steps, a step of processing the annular material 200B and a step of measuring the scale are performed. That is, by performing the operation method of the transport device 100B of the present embodiment, the annular material 200B has a vulcanization process, a first transport step shown in the first embodiment, a cover winding step, and a second embodiment. After the second transfer step shown in the above step and the inner circumference length measuring step for measuring the scale, vulcanization is possible.

The annular product 200B processed and conveyed in the present embodiment is an unvulcanized rubber belt in a state before vulcanization of the wrapped V-belt, and is a flexible endless annular unvulcanized rubber belt.

FIG. 15 is a flowchart for explaining an example of the operation of the annular material transporting device 100B according to the third embodiment of the present invention. In the following, when the explanation is made with reference to the flowchart, the drawings other than the flowchart will be referred to as appropriate.

In the operation method of the transfer device 100B in the present embodiment, the skive processing step (step S40), the first transfer step (step S41), the cover winding step (step S42), the second transfer step (step S43), and so on. An inner peripheral length measuring step (step S44) for measuring the circumferential length (hereinafter referred to as the inner peripheral length) on the inner peripheral surface of the annular object 202 is performed.

In the present embodiment, first, the skive treatment step S40 in which the skive treatment is applied to the annular material 200B is performed. In the skive treatment, the cross section perpendicular to the circumferential direction is formed in a rectangular shape, and both corners on the inner peripheral side of the rotating endless unvulcanized rubber belt are cut so as to be scraped over the circumferential direction. It is a process. In the present embodiment, in the skive processing step S40, the annular material 200B wound around the first shafts 11 and 12 is rotated by rotating the first shaft 11. Then, in the skive processing step S40, the skive cutter (not shown) is brought into contact with the inner peripheral side of the rotating annular object 200B, and both corners on the inner peripheral side are extended in the circumferential direction by the blade of the skive cutter. A skive treatment for excision is applied to the annular product 200B. In the cross section perpendicular to the circumferential direction, the skive-treated annular body 200B is formed in a substantially trapezoidal shape in which the outer peripheral side portion is formed in a substantially rectangular shape and the inner peripheral side portion is tapered inward. It will be in the state of being.

The first transport step S41 is configured as a step of transporting the skived annular material 200B from the pair of first shafts 11 and 12 of the transport device 100B to the pair of second shafts 21 and 22. In the first transfer step S41, the rods of each of the pair of arms 31B and 32B are degenerate with respect to the cylinder, and the lengths of the pair of arms 31B and 32B are shortened along the axial direction. Then, in the first transfer step S41, the transfer device 100B is the predetermined area 201 of the annular material 200B arranged between the pair of chucks 31d and 32d (not shown in FIG. 14), similarly to the transfer device 100 of the first embodiment. The pair of chucks 31d and 32d grip the annular material 200B so that (omitted) has a circumference of less than half the circumference of the annular material 200B. The predetermined region 201 specified in the first transfer step S41 in the annular product 200B is configured as the same portion as the predetermined region 201 in the annular product 200 of the first embodiment. Further, in the first transfer step S41, the transfer device 100B conveys the annular object 200B by the hand 3B in a state where the pair of chucks 31d and 32d stretch the predetermined area 201 in a straight line. Since the first transfer step S41 is configured in the same manner as the steps S11 to S19 described in the first embodiment, detailed description thereof will be omitted.

The cover winding step S42 is a step of covering the periphery of the skive-treated annular material 200B with an outer cover (not shown). In the cover winding step S42, the annular material 200B wound around the second shafts 21 and 22 is rotated by rotating the second shaft 21, and the entire peripheral surface of the annular material 200B is outside the entire peripheral surface in the circumferential direction. Cover with a cloth. As a result, the annular material 200B is formed by covering the annular material 200B with the outer cover.

FIG. 16 is a flowchart for explaining an example of the operation of the second transfer step S43 among the steps shown in FIG.

As shown in FIG. 16, in the second transfer step S43, the transfer device 100B first shortens the mutual pitch of the pair of second axes 21 and 22 (step S45). Next, the transfer device 100B arranges a pair of arms 31B and 32B closed in a closed position at a position adjacent to the second holding device 2 (step S46). At this time, each of the pair of arms 31B and 32B is in a state in which the rod extends from the cylinder with the supply and discharge of the working fluid, and the length becomes longer along the axial direction.

Next, the transport device 100B grips the annular object 200B with a pair of chucks 31d and 32d (step S47). At this time, in the transport device 100B, similarly to the transport device 100A of the second embodiment, the predetermined region 201A of the annular material 200B arranged between the pair of chucks 31d and 32d has a circumference less than half the circumference of the annular material 200B. As described above, the pair of chucks 31d and 32d grip the annular object 200B. The predetermined region 201A (not shown in FIG. 14) specified in the second transfer step S43 in the annular product 200B is configured as the same portion as the predetermined region 201A in the annular product 200A of the second embodiment. Further, step S47 is configured as the same step as step S23 in the second embodiment.

Next, in the transport device 100B, the pair of arms 31B and 32B are opened, and the predetermined region 201A of the annular body 200B is linearly stretched (step S48). Note that step S48 is configured as the same step as step S24 in the second embodiment.

Next, the annular body 200B is removed from the second holding device 2 by the operation of the moving mechanism 36 (step S49). Next, the moving mechanism 36 moves the base portion 35 from the position adjacent to the second holding device 2 to the position adjacent to the first holding device 1. As a result, the pair of arms 31B and 32B and the annular object 200B are adjacent to the pair of first axes 11 and 12 of the first holding device 1 (step S50). At this time, the hand 3B conveys the annular object 200B in a state where the pair of chucks 31d and 32d keep the predetermined region 201A of the annular object 200B linearly stretched.

Next, the hand 3B tilts the annular object 200B with respect to the pair of first axes 11 and 12 (step S51). Note that step S51 is configured as the same step as step S27 in the second embodiment. Next, the annular object 200B is hung on one of the first axes 11 by a pair of arms 31B and 32B in a state where the predetermined region 201A is stretched linearly (step S52).

Next, by closing the pair of arms 31B and 32B from the open position to the closed position, a part of the predetermined region 201A of the annular body 200B is stretched on one of the first axes 11 (step S53). Note that step S53 is configured as the same step as step S29 in the second embodiment.

Next, the pair of chucks 31d and 32d are separated from the annular object 200B, and the hand 3B is retracted with respect to the pair of first axes 11 and 12 by the operation of the joint portions 33 and 34 and the moving mechanism 36 (step S54). As a result, the annular object 200B is suspended from one of the first shafts 11. Note that step S54 is configured as the same step as step S30 in the second embodiment.

After the annular material 200B is hung on one of the first shafts 11, the moving mechanism 14 widens the distance between the pair of first shafts 11 and 12, so that the annular material 200B becomes a pair of first shafts 11 and 12. It is stretched (step S55). Note that step S55 is configured as the same step as step S31 in the second embodiment. As a result, the second transfer step S43 is completed.

When the second transfer step S43 is completed, the inner circumference length measuring step S44 is executed in order to perform a scale for determining whether or not the dimensions are suitable for the vulcanization die.

In the inner peripheral length measuring step S44, the annular material 200B which is configured as an unvulcanized rubber belt which has been skived and whose circumference is covered with an outer cover and is stretched on a pair of first shafts 11 and 12. The inner circumference of is measured (step S44). At this time, it is determined whether or not the annular material 200B, which is an unvulcanized rubber belt whose circumference is covered with an outer cover, has a size suitable for the mold used in the subsequent vulcanization step. Is done.

The above is an example of transporting the annular material 200B by the annular material transporting device 100B.

Also in the case of the present embodiment, as in the case of the first embodiment and the second embodiment, it is possible to surely suppress the occurrence of slack in the annular material 200B.

Then, according to the third embodiment, when the annular object 200B is conveyed from the vertical biaxial device (pair of first axes 11 and 12) to the horizontal biaxial device (pair of second axes 21 and 22), From the time when the annular material 200B is removed from the pair of first axes 11 and 12, a linear predetermined region 201 can be formed on the annular material 200B. Then, by hanging the predetermined region 201 of the annular material 200B on the pair of second axes 21 and 22, the slackening of the annular material 200B in the pair of second axes 21 and 22 can be more reliably suppressed.

Further, according to the third embodiment, when the annular object 200B is transported from the horizontal biaxial device (pair of second axes 21 and 22) to the vertical biaxial device (pair of first axes 11 and 12), From the time when the annular material 200B is removed from the pair of second axes 21 and 22, a linear predetermined region 201A can be formed on the annular material 200B. Then, by hanging the predetermined region 201A of the annular material 200B on at least one of the pair of first shafts 11 and 12, the slackening of the annular material 200B in the pair of first shafts 11 and 12 can be suppressed more reliably.

The embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment, and can be variously modified and implemented as long as it is described in the claims. For example, you may change it as follows:

(1) In the above description, in the first embodiment, the embodiment in which the annular material 200 is a V-belt will be described, in the second embodiment, the embodiment in which the annular material 200A is a flat belt will be described, and further, a third embodiment will be described. Although the form in which the annular product 200B is an unvulcanized rubber belt has been described above, this may not be the case. For example, in the first embodiment, the annular material 200 may be a flat belt or an unvulcanized rubber belt, and in the second embodiment, the annular material 200A may be a V-belt or an unvulcanized rubber belt. Further, in the third embodiment, the annular material 200B may be a vulcanized rubber belt such as a flat belt or a V belt.

(2) Further, in the above-described embodiment, the transfer of the annular object 200; 200A; 200B between the vertical or horizontal biaxial devices has been described as an example, but this may not be the case. For example, the present invention may be applied to a form in which an annular object is hung on a pedestal having one or more shafts.

(3) Further, in the above-described embodiment, the configuration in which the pair of arms 31, 32; 31A, 32A; 31B, 32B are operated by the joint portions 33, 34 and the moving mechanism 36 has been described. However, the pair of arms 31, 32; 31A, 32A; 31B, 32B need only be able to convey the annular object 200; 200A; 200B, and the specific operating source is not limited.

(4) Further, in the above-described embodiment, the embodiment of the annular material transporting device including the two biaxial devices of the vertical biaxial device and the horizontal biaxial device has been described as an example, but this may not be the case. For example, the form of an annular material transfer device configured to include three or more biaxial devices may be implemented.

(5) Although various forms and modifications of the present invention have been described above, in the present invention, the annular material 200; 200A; Any configuration may be used as long as the 200B is conveyed by the hands 3; 3A; 3B, and other configurations may not be provided.

The present invention can be widely applied as an annular material transporting device.

3,3A, 3B Hands 11, 12, 11A, 12A 1st axis 21, 22, 21A, 22A 2nd axis 31d, 32d Chuck 31, 31A, 31B Arm 32, 32A, 32B Arm 33, 34 Joint 35 Base 36 Moving mechanism 100, 100A, 100B Circular object transfer device 200, 200A, 200B Circular object 201, 201A Predetermined area D1, D1A First facing direction D2, D2A Second facing direction L1 Where a predetermined area is hung on the second axis Length between L1A Length between the points where the predetermined region is hung on the first axis α Spacing between chucks β Perimeter of the annular object in the predetermined region

Claims (9)

A hand for transporting a flexible annular object and a pair of first axes arranged in a predetermined first facing direction are provided.
The hand includes a pair of arms, each with a chuck for gripping the annular object.
The pair of chucks are configured to grip the annular object so that a predetermined region of the annular object arranged between the pair of chucks has a circumference of less than half the circumference of the annular object.
The annular object is configured to be conveyed by the hand while the pair of chucks stretches the predetermined area in a straight line .
The pair of chucks hold the annular object at a predetermined position near the first axis of one of the pair of the first axes in a state where the annular object is wound around both of the pair of the first axes. By grasping, the annular object is gripped so that the predetermined region of the annular object arranged between the pair of chucks has a circumference of less than half the circumference of the annular object.
The hand further includes a pair of joints for displacing each of the pair of arms and a base that supports the pair of joints.
The pair of arms are opened by the turning motion of the arms by the joint portion, and the pair of arms are arranged so that the distance between the pair of chucks is the circumference of the annular object in the predetermined region. A ring-shaped object transporting device, characterized in that an operation of linearly stretching the predetermined area of the annular object is performed. The annular material transporting device according to claim 1.
When the annular object is conveyed, the pair of the arms is arranged so that the distance between the pair of chucks is the circumference of the annular object in the predetermined region. .. The annular material transporting device according to claim 1 or 2.
An annular object transporting device, characterized in that the pair of the arms are configured to operate symmetrically with each other. The annular material transporting device according to any one of claims 1 to 3.
The joint portion is an annular object transporting device, characterized in that the arm is tilted in order to hang the predetermined region on the shaft in a state where the predetermined region is tilted with respect to the shaft on which the predetermined region is hung. The annular material transporting device according to any one of claims 1 to 4.
The hand is an annular object transporting device, further comprising a moving mechanism for moving the pair of the arms. The annular material transporting device according to claim 5.
When the predetermined area is hung on a predetermined axis, the moving mechanism is configured to operate so as to displace the predetermined area along the axial direction of the axis and to displace it so as to approach the axis. An annular material transporting device, characterized in that it is used. The annular material transporting device according to any one of claims 1 to 6 .
Further, a pair of second axes arranged in a predetermined second facing direction different from the first facing direction is provided.
The hand is configured to convey the annular object so that the annular object hung on at least one of the pair of the first axes is hung on at least one of the pair of the second axes. A characteristic annular material transfer device. The annular material transporting device according to claim 7.
The first facing direction is the vertical direction.
The second facing direction is the horizontal direction.
The pair of the second axes is configured so that the pitch between the axes can be changed.
The pair of arms is configured to hang the predetermined region on at least one of the pair of the second axes in a state where the predetermined region is stretched linearly.
It is configured that the pair of the second axes move relative to each other so that the length between the portions of the pair of the second axes on which the predetermined region is hung is shorter than the length of the predetermined region. A characteristic annular material transfer device. The annular material transporting device according to claim 7.
The first facing direction is the horizontal direction.
The second facing direction is the vertical direction.
The pair of first axes is configured so that the pitch between the axes can be changed.
The pair of the first axes is configured to move relative to each other so that the length between the portions of the pair of the first axes on which the predetermined region is hung is shorter than the length of the predetermined region.
The pair of arms is configured to grip the annular object so that the predetermined region is stretched linearly when the annular object is removed from the pair of the first axes. Circular object transfer device.

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