JP2014198622A - Drawing device and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a position at which a belt is drawn be the same even when a diameter of a hoop is different.SOLUTION: A drawing device for drawing a belt from a hoop in which the belt is wound around a core, includes: a rolling mechanism for holding the core to rotate the hoop around a horizontal shaft; a drawing mechanism for holding an end part of the belt to draw the belt downward from the hoop held by the rolling mechanism; a sensor for measuring a position of a horizontal direction end of a peripheral surface of the hoop held by the rolling mechanism; and a moving mechanism for horizontally moving the rolling mechanism so that the position of the horizontal direction end of the peripheral surface of the hoop matches the position at which the end part of the belt is held by the drawing mechanism.

Description

  The present invention relates to a technique for pulling out a band from a hoop in which the band is wound around a core material.

  As one method of supplying a material to a processing apparatus, a method is known in which a strip-shaped material is wound into a hoop and supplied in units of hoops. For example, in the manufacture of a secondary battery such as a Li-ion battery, the electrode plate is supplied to the processing apparatus in units of a hoop around which an electrode band is wound. In a system in which the material is supplied by the hoop, a drawing device for extracting the belt-like material from the hoop is required so that the subsequent device holds the belt-like material. In general, a method of holding and pulling out the end of the belt is employed (for example, Patent Documents 1 to 4).

JP-A-6-147857 JP-A-6-263322 JP-A-8-113397 JP-A-9-118458

  If the hoop has the same diameter, the distance from the center of the hoop to the end of the band is constant (substantially a radius), so the band holding position by the pulling device and the position where the subsequent apparatus holds the drawn band Will be in the same position. However, when handling hoops having different diameters, the distance from the center of the hoop to the end of the band varies depending on the hoop. As a result, not only the holding position of the band by the drawing device but also the position where the succeeding apparatus holds the drawn band must be adjusted, and the control is likely to be complicated.

  An object of the present invention is to make the position where the belt is pulled out the same even if the hoops have different diameters.

  According to the present invention, for example, a drawing device for pulling out the band from a hoop in which a band is wound around a core material, the rotation mechanism holding the core material and rotating the hoop around a horizontal axis, and an end of the band A pulling mechanism that pulls the belt downward from the hoop held by the rotating mechanism, a sensor that measures the position of the horizontal end of the hoop circumferential surface held by the rotating mechanism, and the hoop And a moving mechanism that horizontally moves the rotating mechanism such that the position of the horizontal end of the peripheral surface matches the end holding position of the band by the pulling mechanism. The

  According to the present invention, even if the hoops have different diameters, the position where the belt is pulled out can be made the same.

The schematic diagram of the conveyance system which is an example of application of the present invention. The block diagram of a control apparatus. Explanatory drawing of a hoop. (A)-(E) are explanatory drawings of a conveyance unit. (A) And (B) is the front view and side view of a drawer | drawing-out apparatus. (A)-(C) are operation | movement explanatory drawings of the drawer | drawing-out apparatus of FIG. (A) And (B) is operation | movement explanatory drawing of the drawer | drawing-out apparatus of FIG. (A) And (B) is operation | movement explanatory drawing of the drawer | drawing-out apparatus of FIG. (A) And (B) is operation | movement explanatory drawing of the drawer | drawing-out apparatus of FIG. (A) And (B) is operation | movement explanatory drawing of the drawer | drawing-out apparatus of FIG. (A)-(C) are operation | movement explanatory drawings of the drawer | drawing-out apparatus of FIG. (A)-(C) are operation | movement explanatory drawings of the drawer | drawing-out apparatus of FIG. (A) And (B) is operation | movement explanatory drawing of the drawer | drawing-out apparatus of FIG. (A) And (B) is operation | movement explanatory drawing of the drawer | drawing-out apparatus of FIG. (A) And (B) is operation | movement explanatory drawing of the drawer | drawing-out apparatus of FIG. Schematic of a transfer robot. (A)-(C) are explanatory drawings of a head unit. FIG. 18 is an operation explanatory diagram of the head unit of FIG. 17. (A) And (B) is operation | movement explanatory drawing of the head unit of FIG. (A) is a figure which shows the attitude | position at the time of driving | running | working of the conveyance robot of FIG. 16, (B) is the II sectional view taken on the line of FIG. (A)-(C) are operation | movement explanatory drawings of the head unit of FIG. (A)-(C) are operation | movement explanatory drawings of the head unit of FIG. (A)-(C) are operation | movement explanatory drawings of the head unit of FIG. (A) is operation | movement explanatory drawing of the head unit of FIG. 17, (B) and (C) are explanatory drawings of a preparation apparatus. (A)-(C) are explanatory drawings of tool exchange.

<Outline of transfer system>
FIG. 1 is a schematic view of a transport system A according to an application example or embodiment of the present invention. In each drawing including FIG. 1, arrows X and Y indicate horizontal directions orthogonal to each other, and an arrow Z indicates a vertical direction.

  The transport system A is a system that transports the FOUP 1 stored in the storage devices B and B to a plurality of (here, three) processing devices C. Although the details of the hoop 1 will be described later, the hoop 1 is an electrode band obtained by winding an electrode plate around a winding body (bobbin), and the hoop 1 around which the anode electrode band is wound and the cathode electrode band are wound. There is a hoop 1. The storage device B is a device that stores the hoop 1, and the processing device C is a device that processes the electrode strip.

  The transport system A includes a transport unit 10, drawer devices 20 and 20, a transport robot 30, and preparation devices 40 and 40. The drawing device 20 is a device that pulls out the electrode band from the hoop 1, and a tool for the transfer robot 30 is arranged in the preparation device 40.

  In the case of the present embodiment, the storage devices B and B, the drawing devices 20 and 20, the preparation devices 40 and 40, and the plurality of processing devices C are sequentially arranged in the X direction. Two storage devices B, two drawing devices 20 and two preparation devices 40 are provided, one for the anode hoop and the other for the cathode hoop. This is intended to prevent the constituent material of the electrode strip from contacting the anode and the cathode.

  The transport unit 10 is a moving body that reciprocates on the rail RL1 extending in the X direction, for example, a traverser in the present embodiment, and moves between the front surface of the storage devices B and B and the front surface of the drawer devices 20 and 20. To do. The transport unit 10 includes a traveling unit 11 that travels on the rail RL <b> 1, a head unit 12 that holds the hoop 1, and a lifting mechanism 13 that is mounted on the traveling unit 11 and lifts the head unit 12. The transport unit 10 holds the hoop 1 by the head unit 12 in the storage device B, and transports the held hoop 1 to the drawing device 20. In the case of this embodiment, the hoop 1 is supported in a posture in which the rotation axis direction of the wound body is directed in the Y direction in both the storage device B and the drawing device 20.

  The transfer robot 30 is an articulated robot that reciprocates on a rail RL2 extending in the X direction. The transfer robot 30 moves between the front surfaces of the drawing devices 20 and 20, the front surfaces of the preparation devices 40 and 40, and the front surfaces of the processing devices C.

  The transfer robot 30 includes a traveling unit 31 that travels on the rail RL2, a head unit 32 that holds the hoop 1, a robot main body 33 that is mounted on the traveling unit 11 and that moves the head unit 32 three-dimensionally, and a cover member 34. Is provided. The transfer robot 30 holds the hoop 1 from which the electrode band has been drawn in the drawing device 20 and conveys it from the drawing device 20 to the processing device C. Further, the transfer robot 30 can perform tool exchange in the preparation device 40. In the case of the present embodiment, the hoop 1 is supported in the processing apparatus C in a posture in which the axial direction is the X-axis direction.

<Control device>
The transport system A can be controlled by a control device and a host computer. FIG. 2 is a block diagram illustrating an example of a control device. The control device 50 can be provided for each configuration. Specifically, each storage device B, each processing device C, transfer unit 10, each drawing device 20, transfer robot 30, and each preparation device 40 can be provided with a dedicated control device 5, respectively.

  The control device 50 includes a processing unit 51, a storage unit 52, and an interface unit 53, which are connected to each other via a bus (not shown). The processing unit 51 executes a program stored in the storage unit 52. The processing unit 51 is, for example, a CPU. The storage unit 52 is, for example, a RAM, a ROM, a hard disk, or the like. The interface unit 53 is provided between the processing unit 51 and an external device (host computer D, sensor 54, actuator 555), and is, for example, a communication interface or an I / O interface. The host computer C controls the overall control of the transport system A, each storage device B, and each processing device C.

  The sensor 54 and the actuator 55 include a sensor and a drive source necessary for the operation of each component. An example of the drive source is a motor.

  In the transport system A configured as described above, the hoops 1 stored in the storage devices B and B are transported to the pull-out devices 20 and 20 under the control of the control device 50 and the host computer D, and each pull-out device 20 uses the hoop 1. The operation of extracting a predetermined amount of the electrode strip and transporting it to any of the processing apparatuses C can be repeated. Hereinafter, each configuration will be further described in detail.

<Hoop>
First, the configuration of the hoop 1 assumed in this embodiment will be described with reference to FIG. The hoop 1 is configured by winding a band BLT around a core material (winding body) 2. The band BLT includes an electrode band (band-shaped electrode plate) 3 and a protector 4. The protector 4 is connected to the end of the electrode strip 3. The protector 4 is, for example, a paper band, and has a length of one or more turns so that the electrode band 3 is not exposed on the peripheral surface of the hoop 1. Blanks 3a are formed on the electrode strip 3 at a constant pitch. The blank 3a is formed away from the protective band 4 and constitutes an index portion serving as a reference for the position where the electrode band 3 should be cut.

  The temporary fixing member 5 is, for example, a sticky note having a part of adhesiveness, and temporarily fixes the end of the protective band 1 to the peripheral surface of the hoop 1. As shown in the upper side of FIG. 3, the hoop 1 is stored in the storage device B in a state where the endmost part of the belt BLT (end part of the protective body 4) is temporarily fixed by the temporary fixing member 5, It is conveyed to the drawing device 20. Then, as shown on the lower side of FIG. 3 by the drawing device 20, the temporary fixing member 5 is peeled off from the circumferential surface of the hoop 1, and the band BLT is drawn. Then, it is conveyed to the processing apparatus C.

  The core material 2 is a cylinder having a through hole 2a, and is formed of, for example, a resin material. A held portion 2 b is formed on one end face of the core material 2. The held portion 2b is a portion held by the head units 12 and 32 during conveyance. In this embodiment, in order to make the holding more reliable, the held portion 2b has a conical cylindrical shape having a large diameter on the tip side and a small diameter on the root side, in other words, the peripheral surface of the held portion 2b is directed from the root side to the tip side. Overhang.

<Transport unit>
Next, the transport unit 10 will be described. The lifting mechanism 13 of the transport unit 10 adjusts the height of the head unit 12, and the head unit 12 holds the hoop 1. And the hoop 1 is conveyed because the driving | running | working unit 11 drive | works. Further, the head unit 12 puts the hoop 1 into the drawing devices 20 and 20 at the conveyance destination.

  4A to 4E are explanatory views of the transport unit 10, and in particular, are explanatory views of the head unit 12. 4A mainly shows a side view of the head unit 12, and FIG. 4B shows a plan view of the head unit 12.

  The head unit 12 includes a base portion (main body portion) 121, a holding mechanism 122, a pair of expansion / contraction mechanisms 123 and 123, and a cover member 124. The base 121 is a skeleton of the head unit 12 and is mounted on the lifting mechanism 13. The base part 121 includes a support rod 121 a that is fitted into the through hole 2 a of the core material 2.

  The holding mechanism 122 is a mechanism that holds the hoop 1 and includes a disc-shaped base portion 122a, a plurality of holding claws 122b, and an actuator 122c. In the case of this embodiment, four holding claws 122b are provided and arranged at intervals of 90 °. The actuator 122c is a motor, for example. The base portion 122a incorporates an opening / closing mechanism that synchronously opens and closes the four holding claws 122b with the driving force of the actuator 122c. The number of the holding claws 122b may be two, three, five or more. For example, in the case of three, the holding claws 122b are arranged at equal intervals of 120 °.

  Each telescopic mechanism 123 includes a guide portion 123a, a movable portion 123b, and an actuator 123c. The guide portion 123a has a box shape with the front and side portions open, and is fixed to the base portion 121. The movable part 123b has a box shape with the rear part and the side part opened, and is movable forward and backward in the Y direction by guidance of the guide part 123a. The actuator 123c is an electric cylinder, for example, and is interposed between the guide part 123a and the movable part 123b. The movable portion 123b moves forward and backward by the expansion and contraction operation of the actuator 123c.

  The base part 122a is fixed to the movable part 123b. A pair of expansion-contraction mechanisms 123 and 123 are controlled synchronously, and translate the base part 122a in the Y direction. As a result, the entire holding mechanism 122 moves in parallel with respect to the base portion 121.

  The cover member 124 has a cylindrical shape with open front and rear central portions, and has a size that can accommodate the hoop 1. The cover member 124 is fixed to the base portion 122 a of the holding mechanism 122, and is moved by the expansion / contraction mechanism 123 together with the holding mechanism 122.

  4C to 4E show an operation example in which the traveling unit 10 takes out the hoop 1 from the storage device B. FIG. In the storage device B, the hoop 1 is supported by the horizontal shaft 6 with the horizontal shaft 6 fitted into the through hole 2 a of the core material 2.

  First, the traveling unit 10 is moved to a position where the head unit 12 faces the hoop 1 on the same axis as shown in FIG. Subsequently, as shown in FIG. 4D, the extension mechanism 123, 123 is extended to advance the holding mechanism 122, the sensor (not shown) detects the held portion 2b of the core material 2, and the holding claw is held at the advanced position. 122b is closed. Thereby, the held portion 2b is held by the holding claw 122b, and the hoop 1 is held by the holding mechanism 122. At this time, the outer periphery of the hoop 1 is surrounded by the cover member 124.

  Subsequently, as shown in FIG. 4E, the expansion and contraction mechanisms 123 and 123 are contracted to retract the holding mechanism 122. As a result, the hoop 1 is extracted from the horizontal shaft 6. The support rod 121a of the base portion 121 described above is fitted into the through hole 2a of the core material 2. Thus, the hoop 1 is removed from the storage device B. Thereafter, the transport unit 10 moves to the drawing device 20 and carries the FOUP 1 to the drawing device 20. The operation of the head unit 12 at that time is the reverse of the operation of taking out shown in FIGS. 4 (C) to 4 (E).

<Drawer device>
Next, the drawer device 20 will be described. FIG. 5A is a front view of the drawing device 20, and FIG. 5B is a side view of the drawing device 20. The drawing device 20 is a device that pulls out the electrode band 3 from the hoop 1, but can be applied to other than the hoop 1, and can be applied to all of the belts wound around the core material.

  The drawing device 20 includes a rotation mechanism 21, a moving mechanism 22, a drawing mechanism 23, an observation mechanism 24, a moving mechanism 25, a tape applying mechanism 26, and a trash box 27, and these are supported by the frame F.

  The rotation mechanism 21 includes a rotation shaft 211 and a drive mechanism 212 that rotates the rotation shaft 211. The rotating shaft 211 is a horizontal axis extending in the Y direction, and has a diameter that fits into the through hole 2 a of the core material 2 of the hoop 1. By fitting the through hole 2 a of the core material 2 and the rotation shaft 211, the core material 2 is held by the rotation shaft 211, and thus the entire hoop 1 is supported by the rotation shaft 211. In the present embodiment, the core material 2 is held by fitting the through hole 2a and the rotating shaft 211. However, other holding methods such as a structure for holding the core material 2 may be used. The drive mechanism 212 includes, for example, a drive source such as a motor and a speed reducer. The rotation, stop, and rotation speed of the rotating shaft 211 can be controlled by controlling the drive source.

  The moving mechanism 22 is a mechanism that horizontally moves the rotating mechanism 21 in the X direction, and can be constituted by, for example, a ball screw mechanism, a belt transmission mechanism, or a rack and pinion mechanism.

  The observation mechanism 24 includes a sensor unit 241 and a lifting mechanism 242. The sensor unit 241 is provided with a sensor 243 and an air nozzle 244. The sensor 243 is, for example, a laser distance sensor, which irradiates a laser in the X direction and measures the position of the object (distance to the object) by the reflected light. A compressor (not shown) is connected to the air nozzle 244 to eject air. The ejection of air makes it easy to raise and hold the end of the temporary fixing member 5 when the electrode strip 3 is pulled out. Details will be described later. The lifting mechanism 242 is an electric cylinder, for example, and moves the sensor unit 241 in the Z direction.

  6A to 8B are explanatory diagrams of operations of the rotation mechanism 21, the movement mechanism 22, and the observation mechanism 24. FIG. These mechanisms mainly perform an operation of adjusting the pull-out position of the band BLT of the hoop 1, and in particular, the holding position at which the pull-out mechanism 23 holds the end of the band BLT (the temporary fixing member 5 in this embodiment). Adjust (end holding position). This will be described below.

  FIG. 6A shows a state where the hoop 1 has been conveyed to the drawing device 20. Although illustration of the conveyance unit 10 is omitted in the figure, the conveyance unit 10 is conveyed from the FOUP 1 storage device B to the drawing device 20 as already described. Then, as shown in the figure, the transport unit 10 positions the hoop 1 in front of the rotation mechanism 21, and fits the through hole 2a of the core material 2 to the rotation shaft 211 as shown in FIG. 1 is supported on the rotating shaft 211.

  Next, the observation mechanism 24 lowers the sensor unit 241 so that the measurement position of the sensor 243 is positioned at the same height h as the axis of the rotating shaft 211 as shown in FIG. Subsequently, based on the measurement result of the sensor 243, while observing the position of the peripheral end of the hoop 1 in the horizontal direction (in this embodiment, the right end in front view) (observation step), the moving mechanism 22 is driven to rotate the rotating mechanism 21. Move horizontally. As shown in FIG. 7A, the rotation mechanism 21 is horizontally moved and stopped so that the horizontal end of the hoop 1 matches the position P1. The position P1 is the end holding position (horizontal direction) of the drawer mechanism 23.

  By horizontally moving the rotation mechanism 21, the end holding position can be made the same regardless of the diameter of the hoop 1. FIG. 7B is an explanatory diagram thereof. The broken lines indicate the position of the rotation mechanism 21 in a state in which the hoop 1 ′ having a smaller diameter than the hoop 1 and the horizontal end of the hoop 1 ′ are aligned with the end holding position. As shown in the figure, by horizontally moving the rotation mechanism 21, the horizontal ends of the hoop 1 and the hoop 1 'having different diameters can be positioned at the same position. Thus, in the present embodiment, even if the hoops have different diameters, the position where the band BLT is pulled out can be made the same.

  Next, it moves to the operation | work which matches the temporary fix | stop member 5 which the drawer mechanism 23 hold | maintains to the position P1. First, the drive mechanism 212 is driven to rotate the rotating shaft 211. Then, the hoop 1 also rotates as shown in FIG. While the hoop 1 is rotating, the peripheral surface of the hoop 1 is observed by the sensor 243 (observation process). That is, in the observation in the state of FIG. 7A, the hoop 1 is stationary, but this time, the position of the horizontal end on the peripheral surface of the hoop 1 is observed by the sensor 243 while rotating the hoop 1. In the portion where the temporary fixing member 5 exists, a change appears in the position of the end of the hoop 1 in the horizontal direction. This is detected by the sensor 243. In the present embodiment, the sensor 243 is also used as a sensor for detecting the temporary fixing member 5.

  When the temporary fixing member 5 is detected at the observation position of the sensor 243 (height h in FIG. 6C), the drive of the drive mechanism 212 is stopped. Thereby, the temporary fixing member 5 is located at the position P1 (FIG. 8A).

  Although the drawing mechanism 23 can be used as it is, the hoop 1 is generally not a perfect circle and the center of the core material 2 is often eccentric. In the state of FIG. 8A, since the hoop 1 is rotated from the state of FIG. 7A, the actual position of the temporary fixing member 5 is deviated from the position P1 due to the eccentricity of the hoop 1. There is. Therefore, as a precaution, as shown in FIG. 8B, the moving mechanism is observed again while observing the position of the horizontal end (temporary fixing member 5) of the peripheral surface of the hoop 1 based on the measurement result of the sensor 243. 22 is driven and the rotating mechanism 21 is moved horizontally. Thereby, the temporary fix | stop member 5 can be more reliably located in the position P1. In addition, air is ejected from the air nozzle 244 to the temporary fixing member 5 to rise from the peripheral surface of the hoop 1 and beat. Thereby, holding | maintenance of the temporary fix | stop member 5 becomes easy.

  Next, the drawer mechanism 23 and its operation will be described. First, referring to FIGS. 5A and 5B, the drawer mechanism 23 includes a drawer start mechanism 23A and a drawer continuation mechanism 23B. The drawing start mechanism 23A holds the temporary fixing member 5 and pulls it downward. The drawing continuation mechanism 23B continuously draws the band BLT drawn down by the drawing start mechanism 23 downward.

  The drawing start mechanism 23A includes a holding unit 231, a moving mechanism 232, a slider 233, a rail member 234, an elevating mechanism 235, a constant pulley 236, a wire 237, and a weight member 238. The holding unit 231 is a unit that holds the temporary fixing member 5, and is a claw opening / closing mechanism that opens and closes a pair of claw portions in the present embodiment. However, for example, a unit that holds the temporary fixing member 5 by suction may be used.

  The holding unit 231 is arranged so that its claw portion is positioned on the position P1, but is moved to the retracted position by the moving mechanism 232 during the operation of the pull-out continuation mechanism 23B.

  The moving mechanism 232 is a mechanism that moves the holding unit 231 in the X direction, and includes, for example, an electric cylinder. The slider 233 is provided so as to be movable up and down by the guide of the rail member 234. The holding unit 231 and the moving mechanism 232 are mounted on the slider 233.

  The rail member 234 extends in a columnar shape in the vertical direction, and engages with the slider 233 to guide the movement in the Z direction. The lifting mechanism 235 is a mechanism that raises the holding unit 231 and is, for example, an electric cylinder. The fixed pulley 236 is rotatably supported on the top of the rail member 234. The total weight of the weight member 238 can be arbitrarily adjusted by selecting the number of weights W mounted. The slider 233 and the weight member 238 are located at each end of the wire 237 spanned by the fixed pulley 236, with the slider 233 positioned on the front side of the rail member 234 and the weight member 238 on the back side of the rail member 234, respectively. It is connected. That is, the holding unit 231 and the weight member 238 are connected by the wire 237.

  Next, a drawing start operation by the drawing start mechanism 23A will be described with reference to FIGS. 9 (A) to 10 (B). In the present embodiment, the belt BLT is drawn out by its own weight such as the holding unit 231.

  First, as shown in FIGS. 9A and 9B, the sensor unit 241 of the observation mechanism 24 is raised and retracted, and the lifting mechanism 235 is driven to raise the slider 233. The weight member 238 is lowered. The holding unit 231 rises on the position P1, and eventually reaches an end holding position P2 (in the height direction) where the temporary fixing member 5 can be held. Therefore, the temporary fixing member 5 is held by the pair of claw portions of the holding unit 231. Subsequently, the elevating mechanism 235 and the rotating mechanism 21 are brought into a free state where the driving force is not exhibited. Accordingly, as shown in FIGS. 10A and 10B, the hoop 1 can be freely rotated while being held by the rotating shaft 211, and the holding unit 231 has its own weight (and slider). 233 and the weight of the moving mechanism 232) (drawing step). At this time, the weight member 238 functions as a balance weight for preventing the holding unit 231 from dropping rapidly.

  By pulling out the band BLT in this way, the band BLT can be pulled out relatively easily. More specifically, if the belt BLT is started to be pulled out by, for example, rotation of the hoop 1 by the rotation mechanism 21 or forced movement control of the holding unit 231, the synchronization control is not always easy. As in the present embodiment, the rotation mechanism 21 adjustably holds the rotation of the hoop 1 so that the band BLT is pulled out by the weight of the holding unit 231. By utilizing the phenomenon, the belt BLT can be started to be pulled out without requiring complicated control or mechanism.

  The rotating mechanism 21 may be rotated at a predetermined rotational speed in a direction that assists free fall of the holding unit 231 and the like (clockwise in the figure). Thereby, it can pull out, suppressing the fall of the tension | tensile_strength by free fall of the holding | maintenance unit 231 grade | etc., And its acceleration.

  If the holding unit 231 is dropped downward as it is, the band BLT can be pulled out completely, but the pulling position gradually changes. In particular, as shown in FIG. 7B, the bands BLT drawn by the hoops 1 having different diameters are different. Therefore, in the present embodiment, when a predetermined amount of the band BLT is pulled out, the pulling is temporarily stopped. The withdrawal of the band BLT can be stopped by locking the rotation of the hoop 1 by the rotation mechanism 21.

  Then, the moving mechanism 25 adjusts the position of the band BLT. FIG. 11A to FIG. 11C are explanatory diagrams thereof.

  The moving mechanism 25 includes a shaft member 251, a moving unit 252 and a moving unit 253. The shaft member 251 is a shaft body that extends horizontally in the Y direction, and is supported by the moving unit 252. The moving unit 252 is a unit that supports the shaft member 251 and moves it in the X direction, for example, an electric cylinder. The moving unit 252 is provided to be movable in the Y direction on the rail 252a. The moving unit 253 is a unit that moves the moving unit 252 in the Y direction, and is an electric cylinder, for example. The shaft member 252 may be supported by the moving unit 253, and the moving unit 252 may move the moving unit 253 in the X direction.

  The shaft member 251 stands by behind the hoop 1 as shown in FIG. 11 (A) until the withdrawal of the band BLT is stopped. Then, the moving unit 253 is driven to advance the moving unit 252 in the Y direction. As a result, as shown in FIG. 11B, the shaft member 251 advances into the gap region S (see FIGS. 10A and 11C) between the end of the band BLT and the peripheral surface of the hoop 1 (the shaft). Member moving step). Subsequently, as shown in FIG. 11C, the moving unit 252 is driven to move the shaft member 251 in the X direction (direction in which the band BLT is moved away from the hoop 1).

  When the shaft member 251 is advanced, it is not impossible to advance to the position of FIG. 11C from the beginning. However, the shaft member 251 may interfere with the band BLT. Therefore, after the shaft member 251 is advanced to the hoop 1 side, the shaft member 251 moves in the X direction.

  Since the shaft member 251 is located at the same position, the position where the band BLT is pulled out can be made constant even when handling the hoop 1 having a different diameter. Moreover, an appropriate tension can be applied to the belt BLT.

  In this embodiment, as shown in FIG. 11C, the rotating mechanism 21 is also moved horizontally in the X direction by the moving mechanism 22. This moving direction is a direction away from the shaft member 251. Thereby, the hoop 1 is horizontally moved in the direction in which the hoop 1 is separated from the shaft member 251 (horizontal movement process). Thereby, more appropriate tension can be applied to the band BLT. Thereafter, the rotating mechanism 21 is again brought into a free state in which the driving force is not exhibited. As a result, the hoop 1 can be freely rotated while being held by the rotating shaft 211, and the holding unit 231 is lowered by its own weight. As already described, the rotation mechanism 21 may be rotated at a predetermined rotation speed in the direction of assisting free fall of the holding unit 231 and the like.

  Finally, it descends to the position shown in FIG. 12A, and the initial extraction of the band BLT is completed. The holding unit 231 releases the temporary fixing member 5. Subsequently, the drawing out of the band BLT by the drawing continuation mechanism 23B is started.

  With reference to FIGS. 12A and 12B, the drawing continuation mechanism 23 </ b> B includes a base portion 2311, a sensor 2312, a cutting mechanism 2313, a clamping mechanism 2314, a pair of delivery rollers 2315, and a moving mechanism 2316.

  The base portion 2311 supports the sensor 2312, the cutting mechanism 2313, the clamping mechanism 2314, and the pair of delivery rollers 2315 on the front surface, and incorporates these driving mechanisms and the like. The base portion 2311 is movable in the Y direction on the rail 2311a.

  The sensor 2312 is a sensor that detects the blank 3a of the band BLT.

  The cutting mechanism 2313 includes a pair of cutter blades that open and close in the X direction, and cuts the band BLT at the location of the blank 3a based on the detection result of the sensor 2312. The clamping mechanism 2314 includes a pair of clamping parts that open and close in the X direction. The pair of delivery rollers 2315 opens and closes in the X direction at a crimping position where the belt BLT can be nipped and conveyed and a separation position separated from each other. In the state of FIG. 12A, the cutting mechanism 2313, the clamping mechanism 2314, and the pair of delivery rollers 2315 are all open. The moving mechanism 2316 is, for example, an electric cylinder, and moves the base portion 2311 back and forth in the Y direction.

  As shown in FIG. 12B, the base portion 2311 is in a state of waiting rearward during the drawing start operation by the drawing start mechanism 23A. When the drawing operation by the drawing start mechanism 23A is completed and the holding unit 231 reaches below the base portion 2311, the moving mechanism 2316 is driven to advance the base portion 2311 as shown in FIG.

  When the base portion 2311 is advanced, the cutting mechanism 2313, the clamping mechanism 2314, and the pair of delivery rollers 2315 are in an open state, and when the base portion 2311 is advanced, the band BLT is in the open state of the pair of cutter blades of the cutting mechanism 2313. Between the pair of holding portions of the holding mechanism 2314 in the open state and between the pair of delivery rollers 2315 in the open state (separation position). In other words, the pair of delivery rollers 2315 in the pull-out continuation mechanism 23B, etc. on both sides of the band BLT by pulling out by the pull-out starting mechanism 23A and adjusting the passing position of the band BLT by the shaft member 251 positioned above the base portion 2311. Is set to be located.

  Next, as shown in FIG. 13A, the pair of delivery rollers 2315 in the separation position is moved to the pressure-bonding position, and the band BLT is sandwiched between the pair of delivery rollers 2315. At the same time, the moving mechanism 232 is driven to retract the holding unit 231 so as not to interfere with the band BLT. Subsequently, as shown in FIG. 13B, the belt BLT is continuously conveyed (drawn) downward by rotating the pair of delivery rollers 2315. The band BLT is sequentially sent into the trash box 27. At this time, the rotation mechanism 21 may drive the hoop 1 to rotate or may be in a freely rotatable state.

  When the sensor 2312 detects the blank 3a of the band BLT, as shown in FIG. 14A, the pair of delivery rollers 2315 remain in the pressure-bonding position, the rotation is stopped, the clamping mechanism 2314 is closed, and the band Hold the BLT. Thereafter, the transport robot 30 moves to the drawing device 20 side in order to receive the hoop 1.

  After the transfer robot 30 arrives and the band BLT is sandwiched between holding parts 3252a (described later) of the transfer robot 30, the cutting mechanism 2313 cuts the band BLT at the blank 3a. In the band BLT, the portion ahead of the blank 3 a including the protective band 4 falls into the trash box 27. Thereafter, the transport robot 30 pulls out the hoop 1 from the drawing device 20. The cutting mechanism 2313 may be placed on standby behind the cutting position, and may be moved forward and cut only during cutting.

  Finally, the tape applying mechanism 26 of the drawing device 20 will be described with reference to FIGS. 15 (A) and 15 (B). The tape sticking mechanism 26 is a mechanism for sticking a tape around the cut end of the band BLT of the hoop 1 extracted by the transport robot 30. This tape is used for connecting the band BLT of the new hoop 1 that has been transported by the transport robot 30 to the electrode band 3 being processed in the processing apparatus C.

  The tape sticking mechanism 26 includes a tape preparation device 261, a suction unit 262, and a moving mechanism 263. The tape preparation device 261 prepares an adhesive tape T having a predetermined length. The suction unit 262 sucks and holds the surface (non-stick surface) of the adhesive tape prepared by the tape preparation device 261. The moving mechanism 263 can move the suction unit 262 in the Y direction and the Z direction, and moves the suction unit 262 to hold the belt BLT of the FOUP 1 held by the transport robot 30 waiting in front of the drawing device 20. Adhere the adhesive tape to the end. At this time, it is possible to apply the adhesive tape while taking a reaction force with a reaction force shaft 3254 (described later) provided in the transport robot 30.

<Transport robot>
The transfer robot 30 will be described with reference to FIG. The figure shows one posture of the transfer robot 30. As already described with reference to FIG. 1, the transport robot 30 is mounted on the traveling unit 31 that travels on the rail RL2, the head unit 32 that holds the hoop 1, and the traveling unit 11, and moves the head unit 32 three-dimensionally. A robot main body 33 and a cover member 34. The traveling unit 31 travels with, for example, a ball screw mechanism, a belt transmission mechanism, or a rack-pinion mechanism that uses a motor as a drive source.

  The robot main body 33 constitutes an articulated arm including a base 331, a turning part 332, and arm parts 333 to 336. The base portion 331 is mounted on the traveling unit 31. The turning portion 332 is mounted on the base portion 331 so as to be turnable with respect to the base portion 331 about the axis L1 in the Z direction.

  The arm portion 333 is supported by the turning portion 332 so as to be rotatable with respect to the turning portion 332 around the axis L2 in the Y direction in the posture shown in FIG. The arm portion 334 is supported by the arm portion 333 so as to be rotatable about an axis L3 in the Y direction with respect to the arm portion 333 in the posture shown in FIG. The arm portion 335 is supported by the arm portion 334 so as to be rotatable around the axis L4 in the X direction with respect to the arm portion 334 in the posture shown in FIG. The arm portion 336 is supported by the arm member 335 so as to be rotatable about an axis L5 in the Y direction with respect to the arm portion 335 in the posture shown in FIG. Thus, the robot body 33 is a 5-axis robot.

  The head unit 32 is attached to the arm unit 336 and is moved three-dimensionally by the traveling unit 31 and the robot body unit 33.

  17A to 17C are explanatory views of the head unit 32, which are a front view, a plan view, and a side view of the head unit 32 in this order. Note that the directions of X, Y, and Z in the figure are based on the orientation of the head unit 32 in the posture of FIG.

  The head unit 32 has the same basic configuration as the head unit 12 of the transport unit 10, but is further multifunctional.

  The head unit 32 includes a base portion (main body portion) 321, a holding mechanism 322, a pair of expansion / contraction mechanisms 323 and 323, a cover member 324, a holding unit 325, and a core material extraction mechanism 328. The base portion 321 forms a skeleton of the head unit 32 and is attached to the arm portion 336. The base portion 321 includes a support rod 321 a that fits into the through hole 2 a of the core material 2.

  The holding mechanism 322 is a mechanism that holds the hoop 1 and includes a disk-shaped base portion 322a, a plurality of holding claws 322b, and an actuator 322c. In the case of this embodiment, four holding claws 322b are provided and arranged at intervals of 90 °. The actuator 322c is, for example, a motor. The base portion 322a incorporates an opening / closing mechanism that synchronously opens and closes the four holding claws 322b with the driving force of the actuator 322c. The number of holding claws 322b may be two, three, five or more. For example, in the case of three, the holding claws 322b are arranged at equal intervals of 120 °.

  Each expansion / contraction mechanism 323 includes a guide portion 323a, a movable portion 323b, and an actuator 323c. The guide part 323a has a box shape with the front part and the side part opened, and is fixed to the base part 321. The movable part 323b has a box shape with the rear part and the side part opened, and is movable forward and backward in the X direction by the guide of the guide part 323a. The actuator 323c is, for example, an electric cylinder, and is interposed between the guide portion 323a and the movable portion 323b. The movable part 323b is configured to advance and retract by the expansion and contraction operation of the actuator 323c.

  The base part 322a is fixed to the movable part 323b. The pair of expansion / contraction mechanisms 323 and 323 are controlled synchronously to move the base portion 322a in parallel. As a result, the entire holding mechanism 322 moves parallel to the base portion 321.

  The cover member 324 has a cylindrical shape with open front and rear center portions, and has a size that can accommodate the hoop 1. The cover member 324 is fixed to the base portion 322 a of the holding mechanism 322 and is moved by the expansion / contraction mechanism 323 together with the holding mechanism 322.

  A notch 324a is formed in a part of the periphery of the cover member 324, and a holding unit 325 is disposed there. The holding unit 325 is supported on the base portion 321 via a tool changer 326 and a support member 327.

  The holding unit 325 includes a base portion 3251, a holding mechanism 3252, a tension adjustment mechanism 3253, and a reaction force shaft 3254. The base portion 3251 is a portion that supports the holding mechanism 3252, the tension adjusting mechanism 3253, and the reaction force shaft 3254 and is attached to and detached from the tool changer 326. The holding mechanism 3252 includes an actuator that opens and closes the pair of holding portions 3252a, and holds the electrode band 3 drawn out of the hoop 1 by holding the pair of holding portions 3252a. The tension adjustment mechanism 3253 includes an actuator that moves the shaft 3253a on the YZ plane, and abuts the shaft 3253a on the electrode band 3 drawn from the hoop 1 to adjust the tension of the electrode band 3. As already described, the reaction force shaft 3254 receives the pressing reaction force of the suction unit 262 when the tape T is applied to the end of the band BLT by the tape applying mechanism 26.

  FIGS. 18A to 19B show an operation example in which the head unit 32 takes out the hoop 1 from the drawing device 20. The way of taking out the hoop 1 is the same as that of the head unit 12 of the traveling unit 10. However, the hoop 1 is in a state where the band BLT (electrode band 3) is pulled out by the drawing device 20, and the holding unit 325 holds the band BLT.

  First, as shown in FIG. 18A, the head unit 32 is moved to a position facing the hoop 1 on the same axis. At this time, the drawer device 20 is in the state shown in FIG. Therefore, the head unit 32 is set in a predetermined direction so that the drawn band BLT and the holding mechanism 3252 are aligned.

  Subsequently, the extension mechanisms 323 and 323 are extended to advance the holding mechanism 322, and the holding claw 322b is closed. As a result, the held portion 2b is held by the holding claw 322b, and the hoop 1 is held by the holding mechanism 322. At this time, the outer periphery of the hoop 1 is surrounded by the cover member 324. Further, the drawn band BLT is interposed between the pair of holding portions 3252a of the holding mechanism 3252. FIG. 18B shows this state. Accordingly, as shown in FIGS. 19A and 19B, the pair of holding portions 3252a are closed and the band BLT is sandwiched. On the drawing device 20 side, the band BLT is cut by the cutting mechanism 2313 (FIG. 14B).

  Further, the tension adjusting mechanism 3253 moves the shaft 3253a to bring the shaft 3253a into contact with the band BLT. Thereby, an appropriate tension is applied to the belt BLT. In accordance with the movement of the shaft 3253a, the moving unit 252 of the drawing device 20 is driven to move the shaft member 251 to the hoop 1 side, and the moving unit 253 is further driven to move the moving unit 252 (and the shaft member 251) backward. To do. Thereby, the role of tension adjustment of the belt BLT can be smoothly transferred from the drawing device 20 side to the transport robot 30 side.

  Thereafter, the expansion and contraction mechanisms 323 and 323 are contracted to retract the holding mechanism 322. Thereby, the hoop 1 is extracted from the rotating shaft 211. The through hole 2a of the core material 2 is in a state in which the support rod 321a of the base portion 321 described above is fitted. Subsequently, the head unit 32 is moved to the application position of the tape T by the tape application mechanism 26, and the tape T is applied to the end of the band BLT.

  As described above, the hoop 1 is taken out from the drawing device 20 in a state where the band BLT is drawn. Thereafter, the transfer robot 30 moves to the processing apparatus C and throws the FOUP 1 into the processing apparatus C. Since the electrode band 3 is exposed on the peripheral surface of the hoop 1 during the movement, there is a higher risk of dust being attached than when the hoop 1 is transported by the traveling unit 10.

  Therefore, the hoop 1 is surrounded not only by the cover member 324 but also by the cover member 34 mounted on the traveling unit 31. FIG. 20A shows the posture of the transfer robot 30 when moving, and FIG. 20B is a cross-sectional view taken along the line II of FIG. The cover member 34 has a concave portion 34 a that can store the periphery of the cover member 324 of the head unit 32 on the back side thereof. The recess 34 a surrounds the cover member 324 and the holding unit 325. In this way, the conveyance robot 30 moves to the processing device C side while maintaining the state in which the hoop 1 and the drawn electrode band 3 are stored in the cover member 34, thereby suppressing the contact of dust with the electrode band 3. The hoop 1 is conveyed in a state and supplied to the processing apparatus C.

  Next, when the transfer robot 30 reaches the processing apparatus C, the hoop 1 is introduced from the head unit 32 to the processing apparatus C. As described for the traveling unit 10, the operation at that time is the reverse of the operation of taking out. At that time, not only the entire hoop 1 but also the drawn electrode band 3 can be transferred to the processing apparatus C.

  On the other hand, in the processing apparatus C, all the electrode bands 3 may be pulled out and processed, and only the core material 2 may remain. Therefore, the core material 2 can be taken out by the core material take-out mechanism 328. The core material take-out mechanism 328 will be described with reference to FIGS.

  The core material take-out mechanism 328 includes a holding unit 3281 and expansion / contraction mechanisms 3282 and 3283, and is supported by the base portion 321 via a support member 329. The holding unit 3281 is a unit that opens and closes the four holding bars 3281a. The expansion / contraction mechanism 3282 reciprocates the holding unit 3281 in the X direction, and the expansion / contraction mechanism 3283 reciprocates the expansion / contraction mechanism 3282 in the Y direction.

  The expansion / contraction mechanisms 3282 and 3283 have the same configuration as the expansion / contraction mechanism 323, and include guide portions 3282a and 3283a, movable portions 3282b and 3283b, and actuators 3282c and 3283c. The movable portions 3282b and 3283b are configured to advance and retract by the expansion and contraction operations of the actuators 3282c and 3283c.

  The holding unit 3281 is fixed to the movable portion 3282b, and the guide portion 3282a is fixed to the movable portion 3283b. The guide portion 3283b is fixed to the support member 329.

  The expansion / contraction mechanisms 3282 and 3283 are normally contracted, and the holding unit 3281 is hidden behind the cover member 324. When the core material 2 is taken out, as shown in FIG. 22 (A), the expansion / contraction mechanism 3283 is extended so that the expansion / contraction mechanism 3282 and the holding unit 3281 are located laterally from behind the cover member 324 (right side in FIG. 22 (A)). Advance to. Further, as shown in FIG. 22B, the expansion / contraction mechanism 3282 extends, and the holding unit 3281 advances forward (to the left in FIG. 22B) from the cover member 324.

  As shown in FIG. 22C, the four holding rods 3281a of the holding unit 3281 can surround the core material 2 in the opened state, and sandwich and hold the core material 2 in the closed state.

  23A to 23C show an operation example in which the core material take-out mechanism 328 takes out the core material 2 from the processing apparatus C. FIG. In the processing apparatus C, the core material 2 is supported by the horizontal shaft 7 with the horizontal shaft 7 fitted into the through hole 2a. The horizontal shaft 7 is rotatably supported.

  First, as described with reference to FIG. 22A, the core material take-out mechanism 328 is in a state in which the expansion / contraction mechanism 3283 is extended and the expansion / contraction mechanism 3282 and the holding unit 3281 are protruded from the back side of the cover member 324 to the side. Is done. Then, as shown in FIG. 23A, the head unit 32 is moved to a position where the holding unit 3281 faces the core material 2 coaxially.

  Subsequently, as shown in FIG. 23B, the expansion / contraction mechanism 3282 extends to advance the holding unit 3281. Thus, the four holding bars 3281a surround the core material 2. When the holding bar 3281 a is closed, the core material 2 is held by the holding unit 3281.

  Subsequently, when the expansion / contraction mechanism 3282 is contracted and the expansion / contraction mechanism 3283 is also expanded / contracted, the core material 2 can be positioned behind the cover member 324.

  Since the horizontal shaft 7 is in an empty state, the new hoop 1 held by the head unit 32 can be supported (set). Therefore, the head unit 32 is moved so that the horizontal shaft 7 and the hoop 1 are positioned coaxially as shown in FIG. When the hoop 1 is carried out from the head unit 32 to the horizontal shaft 7, the conveyance of the unit of the hoop 1 is completed.

  Thereafter, the transport robot 30 returns to the drawing device 20 and transports a new hoop 1. However, if the poles of the electrode strip 3 are different, the holding unit 325 is replaced. Since the holding unit 325 is in contact with the electrode band 3, it is not preferable to use the same holding unit 325 between the different electrodes because the constituent material of the electrode band 3 is in contact between the anode and the cathode.

  In the case of this embodiment, since the holding unit 325 is supported by the base portion 321 via the tool changer 326, the replacement can be performed. FIG. 24A shows how the holding unit 325 is attached and detached. As shown in the figure, the holding unit 325 can be removed by separating the tool changer 326 and the base portion 3251, and the holding unit 325 can be replaced by attaching another holding unit 325 to the base portion 3251. It is.

  As already described, two preparation devices 40 are provided, one for the anode hoop and the other for the cathode hoop. The preparation device 40 is provided with a placement unit for the holding unit 325. One preparation device 40 has an anode holding unit 325, and the other preparation device 40 has a cathode holding unit 325. It is placed. Since the preparation device 40 is disposed at a position along the travel route (rail RL2) of the travel unit 31 of the transport robot 30, the transport robot 30 can replace the holding unit 325 via the preparation device 40.

  FIG. 24B is a plan view of the preparation device 40. An opening 41 communicating with the internal space is formed in the ceiling portion of the preparation device 40, and a placement portion 42 of the holding unit 325 is formed in the vicinity thereof. Has been. FIG. 24C is a diagram in which the outline of the front surface of the holding unit 325 is superimposed on the opening 41, and the opening 41 has a size that allows the head unit 32 to be inserted and overlaps the base portion 3251 of the holding unit 325. In this manner, the mounting portion 42 is disposed.

  FIG. 25A to FIG. 25C show how the holding unit 325 is replaced in the preparation device 40. The head unit 32 is lowered to the preparation device 40 with its front portion facing downward. As shown in FIG. 25A, the head unit 32 enters the preparation device 40 from the opening 41 and the base portion 3251 of the holding unit 325 is seated on the placement portion 42.

  A cleaning mechanism 43 is disposed in the opening 41. In the present embodiment, the cleaning mechanism 43 is a nozzle that ejects a fluid such as air or cleaning liquid, and sprays the fluid into the cover member 324 as shown in FIG. As a result, the inside of the head unit 32, that is, the portion holding the hoop 1 is cleaned. Note that dust and the like can be prevented from remaining in the preparation device 40 by exhausting the internal space of the preparation device 40 in communication with an external suction device.

  When cleaning is completed, the tool changer 326 is driven to separate the holding unit 325 from the head unit 32. Then, the head unit 32 is raised as shown in FIG. Thereafter, the head unit 32 moves to the other preparatory device 40, and the holding unit 325 for the electrode band 3 having a different polarity from the holding unit 325 separated earlier is attached to the head unit 32, and the hoop 1 is transported. Will do.

  In this way, the transfer robot 30 can pass the end of the electrode strip 3 to the processing apparatus C side, and can transfer the hoop 1 while avoiding contact between the anode constituent material and the cathode constituent material. .

Claims (9)

A drawing device for pulling out the band from a hoop wound around the core.
A rotation mechanism for holding the core material and rotating the hoop around a horizontal axis;
A drawing mechanism for holding the end of the band and pulling the band downward from the hoop held by the rotating mechanism;
A sensor for measuring a position of a horizontal end of the hoop circumferential surface held by the rotation mechanism;
A moving mechanism that horizontally moves the rotating mechanism so that the position of the horizontal end of the hoop circumferential surface matches the end holding position of the band by the pulling mechanism;
A drawer device characterized by that. The drawer mechanism is
A pair of delivery rollers that sandwich and feed the belt;
A holding unit that holds an end of the band and is provided so as to be movable downward so that the band passes through a band holding position of the pair of delivery rollers;
A shaft that includes a shaft member, moves the shaft member forward and backward with respect to a gap region between the end portion of the belt drawn out by the downward movement of the holding unit and the hoop peripheral surface, and applies tension to the belt. A member moving mechanism,
The drawing device according to claim 1. The shaft member moving mechanism is
A first moving unit for moving the shaft member in the axial direction;
A second unit for moving the shaft member in a direction orthogonal to the axial direction,
The drawing device according to claim 2, wherein: The drawer mechanism is
A pair of delivery rollers that sandwich and feed the belt;
A holding unit that holds an end portion of the band and is provided so as to be movable downward so that the band passes through a band holding position of the pair of delivery rollers.
The pair of delivery rollers is
Disposed below the end holding position, and
It is movable between a crimping position for clamping the band at the band clamping position and a separation position separated from each other,
The rotation mechanism is
Holding the rotation of the hoop in an adjustable manner so that the belt is pulled out by its own weight.
The drawing device according to claim 1. The drawer mechanism is
A weight member connected to the holding unit by a wire,
And further comprising a fixed pulley on which the wire is bridged,
The drawing device according to claim 4. The band is
An electrode strip;
A protective band that is connected to an end of the electrode band and prevents the electrode band from being exposed on a peripheral surface of the hoop;
A temporary fixing member for temporarily fixing an end of the protective band to the peripheral surface of the hoop;
The drawer mechanism is
An indicator part detection sensor that detects an indicator part that is formed on the electrode band apart from the protective band and serves as a reference for a position to cut the electrode band;
A cutting mechanism for cutting the electrode strip based on the detection result of the index part detection sensor,
The drawing device according to claim 1. A method of pulling out the band from a hoop around which a band is wound around a core material,
Holding the core of the hoop rotatably about a horizontal axis;
An observation step of observing the position of the horizontal end of the hoop peripheral surface;
Horizontally moving the hoop so that the position of the horizontal end of the hoop peripheral surface matches a predetermined end holding position;
A step of holding the end of the band at the end holding position and pulling the band downward from the hoop.
A withdrawal method characterized by that. In the observation step,
While rotating the hoop, observe the position of the horizontal end of the hoop peripheral surface with a sensor,
When the end of the belt is detected at the observation position of the sensor, the rotation of the hoop is stopped.
The drawing method according to claim 7. A shaft member moving step of advancing the shaft member with respect to a gap region between the end portion of the belt drawn in the drawing step and the hoop peripheral surface;
A horizontal movement step of horizontally moving the hoop in a direction in which the hoop is separated from the shaft member;
A feeding step of sandwiching the belt with a pair of delivery rollers at a position below the shaft member, and delivering the belt by rotation of the pair of delivery rollers;
The withdrawal method according to claim 8.

Images