JP2015231689A - Tire manufacturing device and tire manufacturing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately join a rear end part of a tire constitution member to a tip part, after realizing an improvement in productivity, when molding an unvulcanized tire.SOLUTION: A tire manufacturing device 1 grips a rear end part of a tire constitution member G by both hands 30A and 30B, and puts the rear end part on a tip part so that the center of the rear end part is put on the tip part. When putting the rear end part of the tire constitution member G on the tip part, the tire manufacturing device 1 separates both ends of the rear end part put on the tip part of the tire constitution member G from the tip part while bringing the center of the rear end part into close contact with the tip part by both hands 30A and 30B. Both ends of the rear end part of the tire constitution member G are separated from the tip part. Next, the tire manufacturing device 1 butts and joins both ends of the member by pressing both ends of the rear end part of the tire constitution member G to the tip part.

Description

  The present invention relates to a tire manufacturing apparatus and a tire manufacturing method for forming an unvulcanized tire by abutting and joining a rear end portion of a tire constituent member to a front end portion.

  Conventionally, when forming a raw tire, for the supplied tire constituent member, visually confirm the tip of the tire constituent member and attach it to the molding drum, rotate the molding drum to wind the tire constituent member, By joining the rear end portion of the tire constituent member to the front end portion, it was molded into a desired shape.

  As described above, when the rear end portion of the tire constituent member is joined to the front end portion, the pushing amount and the pulling amount are adjusted by visual inspection, and the shape of the raw tire is formed. There was a problem that productivity could not be improved and the cycle time was long.

Therefore, in order to solve the above problem, a tire manufacturing apparatus has been proposed in which a raw tire is formed (joined) on a forming drum by a robot (Patent Document 1).
However, if joining is simply performed using a robot, the center of the rear end of the tire component first comes into contact with the tip first, and if the robot continues to operate as a result, the shape of the joint of the tire component will result. Collapses.

  In order to avoid this, for example, it is possible to change the operation specification of the robot. However, if the operation specification is changed, it is expected that the control of the robot becomes complicated and the cycle time becomes longer.

Japanese Patent Publication No. 2010-208110

  The present invention has been made in view of the above-described conventional problems, and the object thereof is to improve productivity while ensuring the joining accuracy when the joining of tire constituent members is automated in tire manufacture. is there.

  The present invention relates to a rotating tire molded body that grips and rotates a gripping means that grips a tire constituent member and an arm provided with the gripping means, grips the tire constituent member supplied toward the tire molded body. A tire manufacturing method comprising: a step of winding; and a step of mutually abutting and joining both end surfaces of a winding front end side and a winding rear end side of the tire constituent member after winding, the winding of the tire constituent member The both end surfaces of the front end side and the rear end side of the winding are brought into contact with each other, and the step of joining the end surfaces on the rear end side of the tire constituent member with the gripping means is wound around the molded body. The overlapping step of overlapping on the winding tip end portion of the component member, and a part of the winding rear end side end portion overlapped on the winding tip end portion of the tire component member is the winding tip Abutting on the same end in the same plane A pull-back step for pulling back to a position where the entire end portion on the winding rear end side of the tire constituent member is pressed against the end portion on the winding rear end side to a position where the entire end portion is in contact with the end portion on the winding front end side. And a pressing process.

  ADVANTAGE OF THE INVENTION According to this invention, productivity can be improved, ensuring the joining precision at the time of automating joining of a tire structural member in tire manufacture.

It is a principal part perspective view which shows typically schematic structure of the tire manufacturing apparatus of this embodiment. It is a principal part perspective view which shows typically the hand which the double-arm robot of FIG. 1 has. It is a principal part enlarged view explaining the operation | movement of a supporting member, a holding member, and a peeling member (at the time of a peeling member descending). It is a principal part enlarged view explaining the operation | movement of a supporting member, a holding member, and a peeling member (at the time of holding member adsorption | suction). It is a principal part enlarged view (at the time of support member inner side movement) explaining operation | movement of a supporting member, a holding member, and a peeling member. It is a principal part enlarged view (at the time of a belt member holding) explaining operation | movement of a supporting member, a holding member, and a peeling member. It is a principal part enlarged view (at the time of a belt member pulling-up) explaining operation | movement of a supporting member, a holding member, and a peeling member. It is a principal part perspective view of the tire manufacturing apparatus which shows typically the winding procedure of a tire structural member. It is a figure which shows the offset of the arrangement position of the front-end | tip part of a tire structural member. It is a figure which shows the rotation angle to the cut position of a tire structural member. It is a principal part perspective view of the tire manufacturing apparatus which shows typically the arrangement | positioning procedure of the rear-end part of a tire structural member. It is a figure which shows the adjustment method of the angle and width | variety of the rear-end part of a tire structural member. It is a figure which shows the procedure which butt | matches and joins the rear-end part of a tire structural member to a front-end | tip part.

Hereinafter, an embodiment of a tire manufacturing apparatus and a tire manufacturing method of the present invention will be described with reference to the drawings.
The tire manufacturing apparatus according to the present embodiment is an apparatus for supplying a tire constituent member to a rotating molded body and winding the tire in order from a tip portion to form an unvulcanized tire having a predetermined shape and structure. Is disposed on the molded body, the tire constituent member is cut at a predetermined position (rear end portion), and the rear end portion of the tire constituent member is joined to the front end portion.

FIG. 1 is a perspective view of a main part schematically showing a schematic configuration of the tire manufacturing apparatus.
As shown in the figure, the tire manufacturing apparatus 1 includes a support body 3 having an axis arranged horizontally, a drive unit 4 that supports the support body 3 so as to be rotatable around the axis line, and a tire constituent member G from above the support body 3. And supply means 10 for supplying. Further, the tire manufacturing apparatus 1 photographs the tire forming means 2 for arranging, cutting, and joining the tire constituent member G, the tire constituent member G, and the like, and the position, width, angle, and the like of the tire constituent member G from the photographed image. A tire forming system (not shown) for analysis.

  The support 3 is a means for supporting the molded body H so as to be rotatable around the axis when the unvulcanized tire is molded. For example, a rigid core having an outer surface shape corresponding to the inner surface shape of the unvulcanized tire to be molded And a cylindrical forming drum that can be expanded and contracted. Here, the support 3 is formed of a molding drum that can rotate around an axis, and a tire component G (which is a lower layer portion of the belt member) is wound around or arranged in order on the outer peripheral side to form a molded body H. Then, the molded body H is held concentrically. Further, the support 3 is rotationally driven by a rotational drive means (not shown) including a drive source such as a motor provided in the drive unit 4 and a transmission mechanism of the rotational power, and the like. Are rotated at a predetermined rotation speed and stopped at an arbitrary rotation angle.

  Here, the to-be-molded body H is an object around which the tire constituent member G is wound at the time of molding an unvulcanized tire, and an unvulcanized tire or work-in-process in the middle of molding arranged on the support 3 or An intermediate molded body or the like. The tire constituent member G is a member constituting each part of the tire, such as a belt, a tread rubber, a canvas chafer, or various reinforcing members, which is wound around the molded body H at a predetermined stage of the tire molding process. It is formed in a band shape or a sheet shape having a predetermined thickness, width and cross-sectional shape with vulcanized rubber or the like, and is supplied from the supply means 10. In the present embodiment, as the tire constituent member G, a belt member G having both ends in the longitudinal direction cut obliquely to form a parallelogram will be described as an example. However, other shapes such as a rectangular shape and a trapezoidal shape are described. The member is also wound around the molded body H in the same manner as described below.

The supply means 10 includes a server 11 that conveys a long belt member G, and a rotatable cylindrical guide member 12 that is provided on the upper surface of the conveyance terminal portion of the server 11.
The server 11 is composed of an endless belt spanned by a plurality of pulleys, driving means (not shown) such as a motor that rotates a pulley on one end side and circulates the belt.

The server 11 is provided with a guide plate 11a in which a groove 13 of a cutter insertion portion into which a cutter for cutting the belt member G is inserted is formed at the center thereof. The upper surface of the guide plate 11a is painted white to facilitate the discrimination between the belt member G and the guide plate 11a when analyzing the image data acquired by the tire molding system 5. The guide plate 11a is filled with a white filling piece (not shown) from below the guide plate 11a so that the belt member G and the groove 13 of the cutter insertion portion can be easily identified during image analysis. It also has a mechanism to raise it.
The surface of the guide plate 11a is coated to prevent the belt member G from being stretched due to the resistance of the guide plate 11a itself when the belt member G is fed, and is further provided for guidance (not shown). A roller etc. are attached.

  The supply means 10 is arranged in a direction orthogonal to the axial direction so that the conveyance end portion is positioned above the support 3, and drives the belt of the server 11 to circulate, so that the belt member G on the upper surface is It is moved in the longitudinal direction along the movement path. Further, the supply unit 10 guides the belt member G with the guide member 12 while holding the belt member G between the server 11 and the belt member G in a predetermined position in the width direction. Thus, the supply means 10 continuously supplies the belt member G toward a predetermined position (here, the upper portion) of the molded body H, and at a predetermined distance in synchronization with the winding around the molded body H. Only a predetermined length is supplied.

  The tire forming means 2 has a double-arm robot 20 that disposes, cuts, and joins the belt member G to the molded body H. The tire forming means 2 is on the downstream side in the supply direction of the belt member G by the supply means 10 and the support body 3. It is arranged to face. The tire forming means 2 grips and moves the leading end portion of the belt member G supplied from the supply means 10 by the double arm robot 20 and affixes it to a predetermined position of the molded body H and arranges it. After that, the tire forming means 2 uses the double-arm robot 20 to cut the rear end portion of the belt member G wound around the molded body H, and abuts and joins the rear end portion of the belt member G to the front end portion.

  The double-arm robot 20 detects, for example, a base end portion 21 installed on the floor surface, a body portion 22 that can rotate around the base end portion 21, and a belt member G provided on the top of the body portion 22. And a pair of rotatable shoulder portions 24A and 24B provided on both sides of the body portion 22. The double-arm robot 20 includes a pair of articulated robot arms (hereinafter simply referred to as arms) 25A and 25B connected to shoulders 24A and 24B, and a robot hand (which is pivotally provided at each tip) ( (Hereinafter simply referred to as “hand”) 30A, 30B, and driving means (not shown) including various actuators for driving the above-described units according to the respective units. The double-arm robot 20 is configured to rotate the body 22, rotate the shoulders 24 </ b> A and 24 </ b> B, rotate (bend) around joints K at a plurality of positions (here, three) of the arms 25 </ b> A and 25 </ b> B, and a hand. By combining the rotation of 30A and 30B, the hands 30A and 30B are moved to a predetermined position within the movable range and arranged in a predetermined state.

  Here, the hands 30 </ b> A and 30 </ b> B move within a predetermined range around the support body 3 including between the conveyance end portion of the server 11 and the molding target H. In this way, the double-arm robot 20 moves the hands 30A and 30B to a predetermined position according to a preset operation pattern in accordance with each stage of arrangement, cutting and joining of the belt member G with respect to the molded body H. Each operation to be described later is executed.

When the belt member G is supplied for a predetermined length from the supply means 10 by the hands 30A and 30B of the double-arm robot 20, the tire forming means 2 holds (or grips) the tip of the belt member G and covers it. It arrange | positions to the molded object H. FIG.
At that time, the hands 30A and 30B function as a moving means for moving the belt member G in addition to a function as a holding means for holding the belt member G, and move and hold the front end portion of the belt member G before arrangement. And affixed to the molded body H.

  The hands 30 </ b> A and 30 </ b> B suck and hold support members (or hand claws) 31 </ b> A and 31 </ b> B that support the side edges of the belt member G from below and are formed in an L shape. Holding members (in this embodiment, magnets that attract the steel cord of the belt member G are used, but vacuum adsorption may also be used) 32A and 32B, and further, the belt member G that is attracted and held inside thereof Stripping members (or plungers) 33A and 33B for the belt member G for peeling the tape from the holding members 32A and 32B are provided.

The gripping mechanism of the belt member G below the hands 30A and 30B is moved to the inside and outside of the belt member G by an appropriate mechanism so as to be positioned below the belt member G or outside the belt member G. It is provided so as to be movable inward and outward.
The support members 31A and 31B grip the belt member G in cooperation with the holding members 32A and 32B, and pull out or pull back the belt member G as the hands 30A and 30B move, as will be described later. Therefore, the supporting members 31A and 31B together with the holding members 32A and 32B constitute a gripping means of this gripping mechanism.
When the belt member G is joined, the belt member G gripped by the gripping means (the support members 31A and 31B and the holding members 32A and 32B) is covered, pulled, and pressed by the hands 30A and 30B. It is possible to join on the curved surface of the molded body H with high accuracy (without opening or overlapping).

The peeling members 33A and 33B hold down the vicinity of the suction surface of the belt member G sucked and held by the holding members 32A and 32B from above, and in this state, the holding members 32A and 32B are raised to hold the belt member G to the holding members 32A and 32B. Used to forcibly peel off from the adsorption surface (magnet).
Note that the holding members 32A, 32B and the peeling members 33A, 33B are all connected via a cylinder mechanism (not shown) so that they can expand and contract with respect to the hands 30A, 30B.

  Further, either one of the hands 30A and 30B, here, the hand 30B is provided with a cutter unit C. When the front end of the belt member G is attached to the molded body H, the tire forming means 2 rotates the support 3 to a predetermined position, cuts the belt member G with the cutter unit C, and the rear end of the belt member G. The part is brought into contact with the tip part and joined.

The cutter unit C is attached to the hand 30B through a lever 28B so as to be able to turn. The cutter 30 can absorb a variation in the cord angle and the pitch by operating the hand 30B and can perform a smooth cut without peeling off the cord rubber.
As shown in FIG. 2A, the cutter unit C has plate-like blades with cutting blades at both ends of a lever 28B that is rotatably connected to the hand 30B, and is placed flat. A cutting edge at the end of the belt member is projected against the belt member, the cut blade is raised, and the hand 30B is reciprocated along a predetermined cutting line for cutting. FIG. 2B shows a state where the cutter unit C is turned upward after the belt member G is cut.
The tire forming means 2 can prevent the cord straddling (cord cutting) of the belt member G when the cutter is reinserted by inserting the cutter with respect to the belt member G at a predetermined angle.

FIG. 3 is an enlarged view of a main part for explaining the operations of the supporting members 31A and 31B, the holding members 32A and 32B, and the peeling members 33A and 33B described above.
That is, FIG. 3A shows a state in which the peeling members 33A and 33B are first lowered and, for example, fed and stopped at both end edges of the belt member G held by the server 11 with the peeling members 33A and 33B. Indicates.
FIG. 3B shows a state in which the holding members 32A and 32B are then lowered, for example, the both edge portions of the fed belt member G are attracted by magnets, and the peeling members 33A and 33B are simultaneously raised.
3C, the holding members 32A and 32B are lifted by the cylinder mechanism from the state shown in FIG. 3B to pull up the belt member G, and then the support members 31A and 31B are moved inward so that the respective support surfaces 31 (1). A, 31 (1) B shows the state which came under the belt member G pulled up.
FIG. 3D shows a state where the holding members 32A and 32B are lowered and the belt member G is gripped between the support surfaces 31 (1) A and 31 (1) B of the support members 31A and 32B.

  FIG. 3E shows a state in which the hands 30A and 30B are pulled up while the belt member G is supported between the holding members 32A and 32B and the support surfaces 31 (1) A and 31 (1) B of the support members 31A and 31B. Indicates. In this state, the arms 25A and 25B are moved to move the belt member G onto a predetermined position, here on the support 3.

  That is, the hand 30A grips the widthwise edge of the belt member G with the support member 31A and the holding member 32A, grips the edge of the belt member G in the thickness direction, and fixes its position. Hold. Further, the hand 30A is moved to move the belt member G to a predetermined position. As described above, the hand 30A has functions of moving and holding the belt member G, respectively.

Next, in order to fix the tire member G moved to the predetermined position in the state of FIG. 3E to the position, the support members 31A and 31B are reversed in the order as described above with reference to FIGS. 3A to 3D. Is moved outward to move away from the side edge of the belt member G.
Next, the belt member G adsorbed by the holding members 32A and 32B is lowered onto, for example, the support 3, and the peeling members 33A and 33B are lowered into the belt member G shape. In this state, the holding members 32A and 32B are raised.
As the holding members 32A and 32B rise, the belt member G adsorbed thereto also rises, but the belt member G is fixed and held on the support 3 by the peeling members 33A and 33B. The holding members 32 </ b> A and 32 </ b> B are separated from the ascending suction surface and are in the same state as in FIG. 3A.

  The support members 31A and 31B may be attached to the hands 30A and 30B so as to be rotatable. In this case, the support member rotates from the lower side of the belt member G using the tapered surface of the bottom surface (that is, in a scooping manner) and enters the magnet attracting portion lightly. When releasing the support member from the belt member, the support member is rotated to the outside of the belt member G.

The tire molding system 5 includes a photographing device (electronic camera or the like) 6, an image analysis device, a display device, and the like. Note that the image analysis device and the display device are not shown.
The imaging device 6 is arranged so as to be movable so that the supply member 10, the belt member G placed on the server 11, and the molding target H can be photographed from the upper part and the side part. Moreover, since the imaging device 6 responds to a change in the angle of the background, the attachment angle can be freely adjusted, and it corresponds to a change in the distance to the workpiece position (position, cutting and joining position of the belt member G). Therefore, it also has a zoom (variable distance) function.
When photographing the front end (or rear end) of the belt member G or the like, the photographing device 6 transfers the photographed image to the image analysis device.

The image analysis device recognizes the width and angle of the belt member G from the image transferred from the photographing device 6, and the edge of the acute angle portion of the belt member G whose longitudinal ends are cut obliquely by the double-arm robot 20. Measure the coordinates of the position and the edge position of the obtuse angle part.
The display device is arbitrary such as an LCD (liquid crystal display device), and displays the coordinates of the edge position of the acute angle portion and the edge position of the obtuse angle portion on the screen in accordance with the shape of the belt member G.

Next, a procedure (arrangement, cutting, and joining) of manufacturing the tire by forming the unvulcanized tire by winding the belt member G around the molded body H by the tire manufacturing apparatus 1 will be described.
The following procedures and the like are executed and controlled by a control device (not shown), and are executed by causing each part of the device to perform related operations at preset timings and conditions. This control device is composed of, for example, a computer having a microprocessor (MPU), a ROM (Read Only Memory) for storing various programs, and a RAM (Random Access Memory) for temporarily storing data directly accessed by the MPU. Each part of the apparatus is connected via a connecting means. Thereby, a control apparatus transmits / receives a control signal and various data with each part of an apparatus, and performs each operation | movement regarding tire shaping | molding, respectively.

4A to 4C are perspective views of a main part of the tire manufacturing apparatus 1 schematically showing the winding procedure of the belt member G, and sequentially show the state of each winding stage corresponding to FIG.
In the tire manufacturing apparatus 1, first, the rotation of the support 3 (see FIG. 4A) is stopped, the server 11 is driven, and the belt member G is supplied from the supply means 10 toward a predetermined position of the molded body H. Subsequently, when the belt member G is supplied from the supply unit 10 for a predetermined length, the supply of the belt member G is temporarily stopped, or in synchronization with the supply while continuing the supply, the tire forming unit 2 The front end portion of the belt member G is disposed on the molded body H (see FIG. 4B). At that time, the tire shaping means 2 grips, positions and moves the tip of the belt member G by both hands 30A and 30B of the double-arm robot 20, and crimps it to a predetermined arrangement position of the molded body H.

That is, the tire shaping means 2 first moves the hands 30A, 30B to a predetermined position toward the side of the belt member G. Next, the belt member G is gripped by the support members 31A and 31B and the holding members 32A and 32B in the procedure shown in FIGS. 3A to 3E.
At this time, in this embodiment, the holding positions of the hands 30A and 30B are adjusted in the front-rear direction of the double-arm robot 20 in accordance with the position of the belt member G whose tip is cut obliquely.

  Next, with the belt member G held by the support members 31A and 31B and the holding members 32A and 32B of the hands 30A and 30B in this way, the arms 25A and 25B are moved, and the belt member G is moved from the supply means 10 side. It moves to the specific position toward the predetermined position of the tip. By this movement, the position in the width direction or the like of the belt member G is positioned at a set position at which the belt member G shifts to the crimping operation to the molding target H.

  Next, the front end portion of the held belt member G is brought into contact with a predetermined arrangement position set on the molded body H, and is pressed against the outer peripheral surface with a predetermined pressure for pressure bonding. Here, the supply means 10 side adjacent to the hand 30 </ b> A of the belt member G is pressed and pressure-bonded, and one edge of the belt member G is attached to the molded body H and disposed.

  Thereafter, the tire manufacturing apparatus 1 releases the gripping of the belt member G by the hands 30A and 30B, and separates both the hands 30A and 30B from the belt member G (see FIG. 4C).

Next, cutting of the belt member G wound around the molded body H will be described.
The tire manufacturing apparatus 1 analyzes the width and the cut angle of the front end portion of the belt member G by the tire molding system 5 and automatically calculates the rotation amount of the support 3 from the analysis result. Accordingly, the belt member G can be cut with a constant cut length regardless of variations in member characteristics.

  The tire manufacturing apparatus 1 stops the supply of the component member G when the support body 3 and the molded body H are automatically rotated based on the analysis result of the tire molding system 5 and the cut position of the rear end portion is adjusted. When the supply of the component member G is stopped, the tire manufacturing apparatus 1 automatically adjusts the cutting angle of the cutter based on the analysis result of the tire molding system 5 and cuts the belt member G at the same cutting angle as the tip portion.

  Hereinafter, the adjustment of the cutting position of the belt member G and the cutting operation of the belt member G by the tire manufacturing apparatus 1 will be described with reference to FIGS. 5, 6, and 7.

As shown in FIG. 5A, the tire manufacturing apparatus 1 is configured so that the center of the magnet line formed on the molded body H intersects the tangent line (formed body tangent) between the belt member G and the molded body H. The body H is rotated by Y ° (molding object rotation angle) from the molding object rotation reference. When the molded body H is rotated by Y ° with respect to the molded body rotation reference, the tire manufacturing apparatus 1 applies the edge position of the obtuse angle portion of the belt member G to the tangent line between the belt member G and the molded body H. as shown in 5B, further the molded body H Y ₁ ° rotated (Y ₁ wound), to offset the position of the magnet lines.

Next, as shown in FIG. 6, the tire manufacturing apparatus 1 rotates the molding H by θ ₂ to the cut position of the belt member G, and supplies the belt member G from the supply means 10 in accordance with the rotation. Then, the belt member G is wound around the outer periphery of the molded body H.

The tire manufacturing apparatus 1 rotates the molded body H to θ ₁ and further θ _2, and winds the belt member G sequentially from the front end to the belt cut position along the arrangement position (winding position) of the molded body H.
When the belt member G is wound up to the belt cut position, the tire manufacturing apparatus 1 is provided with a cutter mounted on the lower side of one of the hands 30A and 30B at the center of the guide plate 11a of the server 11. The belt member G is cut | disconnected by inserting in the groove | channel 13 of a cutter insertion part from the upper side of the guide plate 11a.

Next, the joining of the belt member G cut by the cutter will be described.
FIG. 7 is a perspective view of a main part of the tire manufacturing apparatus 1 schematically showing the joining of the belt member G, and is shown corresponding to FIG.
When the tire manufacturing apparatus 1 holds the rear end portion of the belt member G in the vicinity of the cutting position with both the hands 30A and 30B (FIG. 7A), the both hands 30A and 30B are moved toward the molded body H. Accordingly, the rear end portion of the belt member G (FIG. 7B) is superimposed on the front end portion and pressed against the molding target H.

  In this embodiment, before the rear end portion of the belt member G is joined to the tip portion, the angle of the rear end portion of the belt member G is made equal to the angle of the tip portion in order to improve joining accuracy. Correction is made and the rear end of the belt member G is adjusted to be positioned at the target position.

Hereinafter, a specific correction method and procedure will be described with reference to FIG.
In FIG. 8, the angle (acute angle part) of the front end part of the belt member G is indicated by θf, and the width of the front end part is indicated by Wf. Further, the angle (acute angle portion) of the rear end portion of the belt member G is indicated by θe, and the width of the rear end portion is indicated by We.

The tire manufacturing apparatus 1 calculates the correction angle of the rear end using the angle θf of the front end of the belt member G and the angle θe of the rear end analyzed by the tire molding system 5.
The tire manufacturing apparatus 1 corrects the angle θe of the rear end portion to be equal to the angle θf of the front end portion by adjusting the width We of the rear end portion of the belt member G based on the calculated correction angle. .

  Specifically, as shown in FIG. 8 (angle correction), the tire manufacturing apparatus 1 corrects the angle θe of the rear end portion of the belt member G to be equal to the angle θf of the front end portion. 30B, the width We of the rear end of the belt member G is adjusted to the width We ′.

  When the tire manufacturing apparatus 1 corrects the angle θe of the rear end portion of the belt member G to be equal to the angle θf of the front end portion, as shown in FIG. 8 (width adjustment), the rear end portion of the belt constituent member G is Once placed against the tip. When the tire manufacturing apparatus 1 is disposed so that the rear end portion of the belt constituent member G is abutted against the front end portion, the obtuse angle side P of the rear end portion is set to the acute angle portion P ′ of the front end portion, and the acute angle side Q of the rear end portion is set to Q. Adjust so that it is located at ´.

  The tire manufacturing apparatus 1 holds the rear end portion of the belt component member G with both hands 30A and 30B, and changes from P (x1, y1) to P ′ (x1 ′, y1 ′) and Q (x2, y2). ) To Q ′ (x2 ′, y2 ′), the two hands 30A and 30B are moved outward, so that both ends of the rear end are adjusted to be at the target positions.

  In this way, by correcting the angle of the rear end portion of the belt member G and adjusting the rear end portion to be positioned at the target position, the center line of the molded body H is related to the front end portion. The rear end can be arranged equally on the left and right.

When the angle and position of the rear end portion of the belt member G are corrected, the tire manufacturing apparatus 1 proceeds to a step of joining the rear end portion of the belt member G to the front end portion as described below.
Next, the process of joining the rear end portion of the belt member G to the front end portion will be described with reference to FIG.

  When both ends of the rear end portion of the belt member G are aligned with the target position, as shown in FIG. 9A, the tire manufacturing apparatus 1 uses the both hands 30A and 30B (support members 31A and 31B, holding members 32A and 32B) as a belt member. The rear end portion of G is gripped, and the rear end portion of the belt member G is covered (overlapped) with the front end portion so that the center of the rear end portion of the belt member G covers the front end portion (STEP 1).

  When the rear end portion of the belt member G is put on the front end portion, the tire manufacturing apparatus 1 separates both ends of the rear end portion covered on the front end portion of the belt member G from the front end portion by both hands 30A and 30B (STEP 2). . At this time, as shown in FIG. 9B, the center of the rear end portion of the belt member G is maintained in a close contact state by tack adsorption with the front end portion.

  When both ends of the rear end portion of the belt member G are separated from the front end portion, the tire manufacturing apparatus 1 moves the support members 31A and 31B from the lower side of the belt member G to the outside of the belt member, and the belt members are moved by the holding members 32A and 32B. By pressing both ends of the rear end of G against the tip, both ends of the member are butted and joined as shown in FIG. 9C (STEP 3).

Thereby, arrangement | positioning, cutting | disconnection, and joining of the one belt member G with respect to the to-be-molded body H are complete | finished.
The tire manufacturing apparatus 1 winds and affixes one or a plurality of belt members G around a predetermined position of the body H to be rotated in a predetermined order in the same order as described above, and combines with other belt members. Form an unvulcanized tire. Subsequently, the molded unvulcanized tire is vulcanized to produce a product tire.

As described above, in the end surface joining method of the belt member according to the embodiment of the present invention, when joining the rear end of the belt member to the front end, the angle of the rear end of the belt member is set to the angle of the front end. By correcting and adjusting the width of the rear end portion of the belt member to the width of the front end portion, it is possible to join with high accuracy.
Further, when the belt member is joined, the end acute angle side of the belt member at the winding rear end side is positioned above the molding target, and the end obtuse angle side of the belt member at the winding trailing end side is below the molding target. Will be located.
Therefore, at the time of joining, the tire forming means rotates only the hand on the side that supports the sharp end of the belt member at the rear end of the winding, and rotates the arm and hand on the side that supports the blunt side of the end. To control.
By controlling in this way, it is not necessary to rotate at least one arm, and control becomes easy. In addition, the cycle time is similarly reduced by reducing the control time.

  Furthermore, since the tire forming means adjusts the width and angle of the rear end of the belt member and pulls back and attracts the belt member on substantially the same plane, the control of the tire forming means is very easy. In addition, the rear end portion of the belt member can be reliably bonded to the front end portion.

DESCRIPTION OF SYMBOLS 1 ... Tire manufacturing apparatus, 2 ... Tire shaping | molding means, 3 ... Support body, 4 ... Drive part, 6 ... Imaging device, 10 ... Supply means, 11 ... Server, 11a ... guide plate, 12 ... guide member, 13 ... groove of cutter insertion part, 20 ... double-arm robot, 21 ... base end part, 22 ... trunk part, 23 ... -Sensor part, 24A, 24B ... shoulder part, 25A, 25B ... arm, 30A, 30B ... hand, 31A, 31B ... support member, 32A, 32B ... holding member, 33A, 33B ... peeling member, G ... tire constituent member, H ... molded object, K ... joint.

Claims (7)

A gripping means for gripping the tire constituent member, and a step of driving and controlling an arm provided with the gripping means, gripping the tire constituent member supplied toward the tire molded body, and winding it on the rotating tire molded body; A process for producing a tire having a step of abutting and joining both end surfaces of a winding front end side and a winding rear end side of the tire constituent member after winding,
The step of abutting and joining both ends of the winding front end side and the winding rear end side of the tire constituent member,
An overlapping step of superimposing an end portion on the winding rear end side of the tire constituent member on an end portion on the winding front end side of the tire constituent member wound around the tire molded body by the gripping means;
A pulling back step of pulling back a part of the end portion on the winding rear end side, which is overlapped on the winding tip end portion of the tire constituent member, to a position where the end portion on the winding leading end side contacts in the same plane;
A rear end pressing step in which the entire end portion on the winding rear end side of the tire constituent member presses the end portion on the winding rear end side to a position in contact with the end portion on the winding front end side;
A tire manufacturing method comprising: In the tire manufacturing method according to claim 1,
Prior to the abutting and joining step, the gripping means adjusts the angle of the end of the tire constituent member on the winding rear end side to the angle of the end of the tire constituent member on the winding leading end side. A tire manufacturing method comprising: an end adjustment step. In the tire manufacturing method according to claim 2,
The angle of the end portion on the winding rear end side of the tire constituent member in the member rear end adjustment step is such that the width of the winding rear end portion of the tire constituent member is set to the width of the winding front end portion of the tire constituent member. The tire manufacturing method characterized by adjusting by combining. In the tire manufacturing method according to claim 2 or 3,
The member rear end adjustment step includes a photographing step of photographing the winding front end side and the winding rear end side end of the tire constituent member with photographing means, and a winding front end of the tire constituent member from the photographed end portion image. And an image analysis step of analyzing the shape of the end portion on the side and the winding rear end side with an image analysis means. In the tire manufacturing method according to claim 1,
Cutting the tire constituent member at a predetermined angle with respect to its longitudinal direction;
The superimposing step and the pull-back step include gripping the end acute angle side of the winding rear end side of the tire constituent member cut obliquely on the upper side with the gripping means on the tire molded body, An end obtuse angle side on the rear end side of the tire constituting member is moved by moving the arm provided with the gripping means to a position on the end obtuse angle side, and then gripped by the gripping means. A tire manufacturing method characterized by the above. In the tire manufacturing method according to any one of claims 2 to 4,
A tire manufacturing method, wherein each operation in the member rear end adjustment step, the pullback step, and the rear end pressing step is performed on substantially the same plane. A gripping means for gripping a tire constituent member and an arm provided with the gripping means, and a tire cover that rotates by gripping the tire constituent member supplied toward the tire molded body by driving and controlling the gripping means and the arm. A tire manufacturing apparatus provided with drive control means for performing control to wind and wind both ends of the winding component of the tire constituent member after winding and the both end surfaces of the winding rear end side against each other.
The drive control means superimposes the end portion on the winding rear end side of the tire constituent member on the end portion on the winding front end side of the tire constituent member wound around the tire molded body by the gripping means, A part of the end portion on the winding rear end side that is overlapped on the end portion on the winding front end side of the tire constituent member is pulled back to a position where the end portion on the winding front end side comes into contact with the end portion on the same plane. A tire manufacturing apparatus that performs control to press the end portion on the winding rear end side to a position where the entire end portion on the winding rear end side of the member contacts the end portion on the winding front end side.

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