JP2018158436A - Annular object transport device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an annular object transport device capable of inhibiting looseness from occurring in an annular object more reliably.SOLUTION: A transport device 100 has a hand 3 for transporting a flexible annular object 200. The hand 3 includes a pair of arms 31, 32 which respectively have chucks 31d, 32d for holding the annular object 200. The annular object 200 is transported by the hand 3 in a state that the pair of chucks 31d, 32d linearly stretches a predetermined area 201.SELECTED DRAWING: Figure 1

Description

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

  For example, in the production process of a transmission belt that sequentially performs molding, vulcanization, polishing, scale measurement, etc., the work of transporting the annular material (belt precursor in the manufacturing process) to the next process, or the standby work on the rack (belt An operation of hanging the precursor on the shaft) and an operation of setting the apparatus in each step (wrapping the belt precursor on two shafts) are performed. Usually, the conveying work of these belt precursors and the like is performed manually by an operator.

  On the other hand, a configuration is known in which article transportation at a factory is automatically performed by a robot (see, for example, Patent Documents 1 and 2).

Japanese Utility Model Publication No. 4-42390 Japanese Patent Laid-Open No. 11-5133

  In an annular object such as a belt, a conveyance device for automatically performing conveyance work between processes is desired. In such a conveying apparatus, it is not preferable that unnecessary slack occurs in the annular material when the annular material is hung on the shaft for the next process.

  In addition, in a plurality of processes, as a platform on which an annular object is hung, a vertical platform in which two shafts are arranged vertically and a horizontal platform in which two shafts are horizontally arranged, such as a platform in which the shaft arrangement is different. Sometimes used. As described above, it is preferable that the annular object is hung without slack on each of the plurality of types of hanging bases.

  However, Patent Documents 1 and 2 only disclose general article conveying apparatuses, and cannot be said to disclose a conveying apparatus suitable for conveying an annular object.

  An object of the present invention is to solve the above-described problem, and to provide an annular object transport device that can more reliably suppress the occurrence of slack in an annular object.

  (1) In order to solve the above-described problem, an annular object conveying device according to an aspect of the present invention includes a hand for conveying an annular object having flexibility, and the hand holds the annular object. Each of the chucks includes a pair of arms, and the pair of chucks holds the annular object such that a predetermined region of the annular object disposed between the pair of chucks has a circumference less than a half circumference of the annular object. It is comprised so that it may hold | grip, and it is comprised so that the said cyclic | annular object may be conveyed with the said hand in the state which stretched the said predetermined area | region linearly with a pair of said chuck | zipper.

  According to this configuration, the annular object is conveyed by the hand while the pair of chucks stretches the predetermined region of the annular object in a straight line. As described above, the predetermined area is linearly stretched, and thus the linear predetermined area can be hung on an object (such as a shaft) on which the annular object is to be hung. Thereby, it can suppress that a cyclic | annular thing loosens in the object on which a cyclic | annular thing is hung. Further, when the annular object is conveyed by the pair of arms, the predetermined area is stretched in a straight line, so that the object on which the annular object is hung is, for example, a vertical axis device (vertical biaxial device) Even in various devices such as a shaft device (horizontal biaxial device) arranged on the left and right, the annular object can be hung easily. Depending on the above, it is possible to realize an annular object transport device that can more reliably suppress the slack of the annular object.

  (2) Preferably, when the annular object is conveyed, the pair of arms are arranged such that a distance between the pair of chucks is a circumferential length of the annular object in the predetermined region.

  With this configuration, the annular object can be linearly stretched. As a result, the hand can hang the annular object on the object to which the annular object is applied in a state in which the annular object is more difficult to loosen. Furthermore, the tension applied to the annular object by the hand is small, and it is possible to suppress the unnecessary load from acting on the annular object.

  (3) Preferably, the hand further includes a pair of joint portions for displacing each of the pair of arms, and a base portion that supports the pair of joint portions, and the arms of the arms by the joint portions. An operation of stretching the annular object is performed by a turning operation.

  According to this structure, the predetermined area | region of a cyclic | annular thing can be stretched linearly by the operation | movement which rotates an arm.

  (4) Preferably, a pair of said arm is comprised so that a mutually symmetrical operation | movement may be performed.

  According to this configuration, it is possible to reduce the space in which each arm rotates. Thereby, the space required for the turning operation of the arm can be made more compact.

  (5) Preferably, the joint portion tilts the arm so as to be applied to the shaft in a state where the predetermined region is inclined with respect to an axis on which the predetermined region is applied.

  According to this configuration, when the predetermined region of the annular object is hung on the shaft, it is possible to prevent the annular object from being hung on the shaft in an unintended posture by being caught on the shaft. Thereby, the location (inner peripheral surface) received by the axis | shaft among cyclic | annular objects can be arrange | positioned in parallel with an axis | shaft more reliably.

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

  According to this structure, an annular object can also be moved together by moving a pair of arms collectively by a moving mechanism.

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

  According to this configuration, when the hand hangs the predetermined region of the annular object on the shaft, the annular object can be advanced obliquely and applied to the shaft. Thereby, it is possible to prevent the annular object from being hooked on the shaft in an unintended posture due to an unintended portion of the annular object being caught by the shaft. Thereby, the location (inner peripheral surface) received by the axis | shaft among cyclic | annular objects can be arrange | positioned in parallel with an axis | shaft more reliably.

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

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

  (9) Preferably, the first facing direction is a vertical direction, the second facing direction is a horizontal direction, and the pair of second axes are configured to be able to change a pitch between the axes. And the pair of arms are configured to hang the predetermined region on at least one of the pair of second shafts in a state where the predetermined region is linearly stretched, and the pair of the second shafts out of the pair of the second shafts. A pair of said 2nd axis | shafts are comprised so that relative movement may be carried out so that the length between the locations where a predetermined area | region is hung may become shorter than the length of the said predetermined area | region.

  According to this configuration, when the annular object is conveyed from the vertical biaxial device (a pair of first shafts) to the horizontal biaxial device (a pair of second shafts), both the pair of second shafts are linear. It is possible to hang a predetermined area stretched on. Thereby, the slack of the annular object in a pair of 2nd axis | shaft can be suppressed more reliably.

  (10) Preferably, the first opposing direction is a horizontal direction, the second opposing direction is a vertical direction, and the pair of first axes is configured to be capable of changing a pitch between the axes. The pair of first shafts are configured to move relative to each other so that a length between portions of the pair of the first shafts where the predetermined region is hung is shorter than a length of the predetermined region. The pair of arms are configured to grip the annular object so that the predetermined region is stretched linearly when the annular object is removed from the pair of first shafts.

  According to this configuration, when the annular material is conveyed from the horizontal biaxial device (a pair of first shafts) to the vertical biaxial device (a pair of second shafts), the annular material is removed from the pair of first shafts. From time to time, a linear predetermined region can be formed in an annular object. And the predetermined area | region of a cyclic | annular thing is hung on at least one of a pair of 2nd axis | shaft, and can suppress more reliably the slack of the cyclic | annular substance in a pair of 2nd axis | shaft.

  According to the present invention, it is possible to realize an annular object transport device that can more reliably suppress the occurrence of slack in an annular object.

It is a typical side view of the annular article conveyance apparatus which concerns on 1st Embodiment of this invention. It is a flowchart for demonstrating an example of operation | movement of a cyclic | annular material conveyance apparatus. (A) is a figure which shows an example in the case of winding the cyclic | annular thing wound around a pair of 1st axis | shaft around a pair of 2nd axis | shaft, and has shown step S11, S12. (B) is a figure which shows step S13. (C) is a diagram showing step S14. (A) is a figure which shows step S15. (B) is a figure which shows step S16. (A) is a side view showing steps S17 and S18, and (B) is a plan view showing steps S17 and S18. (C) is a diagram showing step S19. (A)-(C) are the partial cross-sectional side views of the principal part which show step S17, S18, and have shown a mode that a cyclic | annular thing is hung on a pair of 2nd axis | shaft. (A) is a side view which shows a comparative example, (B) is a top view of the principal part which shows a comparative example. It is a typical side view of the conveying apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart for demonstrating an example of operation | movement of the annular article conveyance apparatus which concerns on 2nd Embodiment. (A) is a figure which shows an example in the case of winding the cyclic | annular thing wound around a pair of 1st axis | shaft around a pair of 2nd axis | shaft, and has shown step S21. (B) is a diagram showing steps S22 and S23. (C) is a diagram showing step S24. (A) is a figure which shows step S25. (B) is a diagram showing step S26. (C) is a diagram showing steps S27 and S28. (A), (B) is a partial cross section side view of the principal part which shows step S27, S28, and has shown a mode that a cyclic | annular thing is hung on one 2nd axis | shaft. (A) is a figure which shows step S29. (B) is a diagram showing step S30. (C) is a diagram showing step S31. It is a typical side view of the annular article conveyance apparatus which concerns on 3rd Embodiment of this invention. It is a flowchart for demonstrating an example of operation | movement of the cyclic | annular material conveyance apparatus which concerns on 3rd Embodiment. It is a flowchart for demonstrating an example of operation | movement of a 2nd conveyance process among each process shown in FIG.

  Hereinafter, embodiments of the present invention will be described.

<First Embodiment>
FIG. 1 is a schematic side view of an annular object conveyance device 100 according to the first embodiment of the present invention. Referring to FIG. 1, an annular material conveyance device 100 (hereinafter also simply referred to as a conveyance device 100) is used for manufacturing a transmission belt for transmitting power. Examples of such a transmission belt include a V belt and a flat belt. Moreover, as a V belt, the V belt used for power transmission uses, such as a general industrial machine and a motor vehicle, can be illustrated. More specifically, examples of the V belt include a wrapped V belt, a low edge V belt, and a V-ribbed belt. The transmission belt is not limited to the above-described configuration, and may be a belt-like (endless annular) belt that can transmit power and has flexibility.

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

  The conveyance device 100 is configured so that the annular object 200 does not loosen in another process when the conveyance of the annular object 200 from one process to another process is completed.

  The conveying device 100 includes a first holding device 1, a second holding device 2 adjacent to the first holding device 1, and a hand 3 that conveys the annular object 200 from the first holding device 1 to the second holding device 2. Have.

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

  The first holding device 1 includes a pair of first shafts 11 and 12 arranged in a predetermined first facing direction D1, a rotation mechanism 13 for rotating the annular object 200, and a relative distance between the pair of first shafts 11 and 12. And a moving mechanism 14 for changing.

  A pair of 1st axis | shafts 11 and 12 are comprised so that it may hold | maintain this cyclic | annular object 200, providing tension | tensile_strength to the cyclic | annular object 200 in cooperation. In the present embodiment, the first facing direction D1 is a vertical direction. In the present embodiment, each of the pair of first shafts 11 and 12 includes a V-groove pulley. For example, the pulleys of the first shafts 11 and 12 each form a groove having a V-shaped cross section, and the annular object 200 is fitted into the groove. Each of the pair of first shafts 11 and 12 has a central axis extending horizontally, and extends in parallel with each other in a state of being separated in the first facing direction D1. In the present embodiment, the shapes of the first shafts 11 and 12 are the same. The pair of first shafts 11 and 12 may have different shapes, such as the effective diameter of one first shaft 11 being different from the effective diameter of the other first shaft 12.

  The rotating mechanism 13 includes, for example, an electric motor, and rotates the first object 11 to rotate the annular object 200 wound around the pair of first axes 11 and 12.

  The moving mechanism 14 includes a drive source such as an electric actuator or a hydraulic actuator. In the present embodiment, one of the first shafts 11 is rotatably supported via a bearing (not shown), and the moving mechanism 14 causes the other first shaft 12 to face the one first shaft 11 in a first direction. Displace in the direction D1. Thereby, a pair of 1st axis | shafts 11 and 12 are comprised so that the pitch between mutual center axis lines can be changed. The moving mechanism 14 may be configured to displace one of the first shafts 11 or may be configured to displace both the pair of first shafts 11 and 12.

  In the first holding device 1 having the above-described configuration, the annular object 200 is hung on the upper end portion and the lower end portion of the pair of first shafts 11, 12, and the pair of first shafts 11, 12 and rotate. In the first holding device 1, the distance between the pair of first shafts 11, 12 is set to a predetermined value (large value) by the moving mechanism 14, so that the annular object 200 is made to the pair of first shafts 11. , 12 are tensioned. On the other hand, in the first holding device 1, the distance between the pair of first shafts 11 and 12 is set to a predetermined value (small value) by the moving mechanism 14. Thereby, the annular object 200 is released from the state in which the pair of first shafts 11 and 12 is tensioned, and can be attached to and detached from the pair of first shafts 11 and 12.

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

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

  The pair of second shafts 21, 22 are configured to hold the annular object 200 while cooperating to apply tension to the annular object 200. In the present embodiment, the second facing direction D2 is the horizontal direction. In the present embodiment, each of the pair of second shafts 21 and 22 includes a V-groove pulley. For example, the pulleys of the second shafts 21 and 22 each form a groove having a V-shaped cross section, and the annular object 200 is fitted into the groove. Each of the pair of second shafts 21 and 22 has a central axis extending horizontally, and extends in parallel with each other in a state of being separated in the second facing direction D2. In the present embodiment, the shapes of the second shafts 21 and 22 are the same. In addition, the mutual shape of a pair of 2nd shafts 21 and 22 may differ, for example, the effective diameter of one 2nd axis | shaft 21 differs from the effective diameter of the other 2nd axis | shaft 22.

  The rotation mechanism 23 includes, for example, an electric motor, and rotates the second shaft 21 to rotate the annular object 200 wound around the pair of second shafts 21 and 22.

  The moving mechanism 24 includes a drive source such as an electric actuator or a hydraulic actuator. In the present embodiment, one of the second shafts 21 is rotatably supported via a bearing (not shown), and the moving mechanism 24 causes the other second shaft 22 to face the one second shaft 21 in a second direction. Displace in the direction D2. Thereby, a pair of 2nd axis | shafts 21 and 22 are comprised so that the pitch between mutual center axis lines can be changed. The moving mechanism 24 may be configured to displace one second shaft 21 or may be configured to displace both the pair of second shafts 21 and 22.

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

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

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

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

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

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

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

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

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

  In each chuck 31d, 32d, the pair of claw portions 31e, 31e; 32e, 32e is configured to be able to change the interval between them in order to perform an operation of gripping the annular object 200 and an operation of separating it. In each chuck 31d, 32d, for example, one or both of the pair of claw portions 31e, 31e; 32e, 32e are configured to be displaceable with respect to the distal end side portions 31c, 32c of the corresponding arms 31, 32. Examples of the mechanism for displacing the claw portions 31e, 31e; 32e, 32e with respect to the distal end side portions 31c, 32c include various configurations such as a solenoid and a rack and pinion mechanism including an electric motor. The pair of arms 31 and 32 having the above configuration are displaced by the joint portions 33 and 34.

  The joint portions 33 and 34 are configured to cause the pair of arms 31 and 32 to turn. The joint portions 33 and 34 are formed using a multi-joint actuator including an electric actuator. Each of the joint portions 33 and 34 is configured to turn the arms 31 and 32 corresponding to at least one axis, and in the present embodiment, the arms 31 and 32 corresponding to two axes are turned. In the present embodiment, one of the two axes is a first turning axis X1 extending in a horizontal direction (front-rear direction in FIG. 1) parallel to the axial direction of the first axes 11 and 12, and the other is a first axis. It is the 2nd turning axis line X2 extended in the horizontal direction (left-right direction of FIG. 1) parallel to the direction orthogonal to the axial direction of 1 axis | shafts 11 and 12. FIG.

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

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

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

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

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

  FIG. 2 is a flowchart for explaining an example of the operation of the annular article conveyance device 100. In addition, below, when it demonstrates with reference to a flowchart, it demonstrates, referring also to figures other than a flowchart suitably.

  In the present embodiment, an example in which the annular object 200 wound around the pair of first shafts 11 and 12 is wound around the pair of second shafts 21 and 22 will be described. First, as illustrated in FIG. 3A, the transport device 100 arranges a pair of arms 31 and 32 that are closed at a closed position at a location adjacent to the first holding device 1 (step S <b> 11). Next, the annular object 200 wound around the pair of first shafts 11 and 12 of the first holding device 1 is gripped by the pair of chucks 31d and 32d (step S12). At this time, the pair of chucks 31 d and 32 d grips a predetermined portion of the annular object 200 near the first shaft 11 of the pair of first shafts 11 and 12. Accordingly, the pair of chucks 31d and 32d grip the annular object 200 so that the predetermined region 201 of the annular object 200 disposed between the pair of chucks 31d and 32d has a circumference less than a half circumference of the annular object 200.

  Next, as shown in FIG. 3B, the center axis of the pair of first shafts 11, 12 is obtained when the other first shaft 12 is moved toward the first shaft 11 by driving the moving mechanism 14. The pitch between them is reduced (step S13). Thereby, the annular object 200 is detached from the other first shaft 12. Next, as shown in FIG. 3C, the annular object 200 is removed from the first shaft 11 by the operation of the moving mechanism 36 (step S14). For example, after the moving mechanism 36 performs the operation of lifting the pair of arms 31 and 32 upward, the pair of arms 31 and 32 is moved in a direction parallel to the axial direction of the first shafts 11 and 12, thereby 200 is removed from one first shaft 11.

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

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

  Next, FIGS. 5 (A), 5 (B), 6 (A), 6 (B), and 6 (C) showing how the annular object 200 is hung on the pair of second shafts 21 and 22 are shown. As shown, the hand 3 tilts the annular object 200 with respect to the pair of second shafts 21 and 22 (step S17). Specifically, each joint portion 33, 34 is adapted to hang the predetermined region 201 on the pair of second shafts 21, 22 while being inclined with respect to the central axis of the second shafts 21, 22. The arms 31 and 32 to be turned are turned around the second turning axis X2. At this time, the joint portions 33 and 34 are arranged such that the outer peripheral surface of the annular object 200 in the predetermined region 201 forms an angle of, for example, about 45 degrees with respect to the central axis of the second shafts 21 and 22. Tilt like so. As a result, the predetermined area 201 of the annular object 200 is disposed on the front side of the hand 3, and a portion other than the predetermined area 201 of the annular object 200 hangs down on the rear side (the moving mechanism 36 side) of the hand 3.

  Next, the predetermined region 201 of the annular object 200 is hung on the pair of second shafts 21 and 22 by the pair of arms 31 and 32 in a state of being stretched linearly (step S18). At this time, the length L1 between the portions of the pair of second shafts 21 and 22 where the predetermined region is hung (between the upper ends of the pair of second shafts 21 and 22) is shorter than the length α of the predetermined region 201. As described above, the pair of second shafts 21 and 22 are relatively moved in advance by the moving mechanism 24. At this time, the entire hand 3 advances toward the second axes 21 and 22 by the operation of the moving mechanism 36. More specifically, the moving mechanism 36 displaces the annular object 200 along the axial direction of the pair of second shafts 21 and 22 while moving the annular object in a direction perpendicular to the second axes 21 and 22 (vertical direction). The hand 3 is moved so that 200 approaches the pair of second axes 21 and 22. Accordingly, the predetermined region 201 of the annular object 200 is fitted to the pair of second shafts 21 and 22 from one side of the pair of V-groove portions of the second shafts 21 and 22. Then, as the pair of chucks 31d and 32d separate the annular object 200, the annular object 200 is placed in a straight posture between the pair of flanges on each of the second shafts 21 and 22, as shown in FIG. It is burned.

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

  After the annular object 200 is hung on the pair of second shafts 21, 22, the hand 3 is retracted from the pair of second shafts 21, 22, and as shown in FIG. The space | interval 22 is expanded by the moving mechanism 24, and the cyclic | annular thing 200 is stretched | stretched to a pair of 2nd shafts 21 and 22 (step S19). The above is an example of the conveyance of the annular object 200 by the annular object conveyance device 100.

  As shown in FIG. 7A, when the pair of arms 31 ′ and 32 ′ are opened, the predetermined area 201 ′ may be undulated without being linearly stretched. In this case, when the pair of arms 31 ′ and 32 ′ hang the annular object 200 ′ on the pair of second shafts 21 ′ and 22 ′, as shown in FIG. 7A and FIG. It is hung on a pair of 2nd axis | shafts 21 'and 22' in the state which waved. As a result, the annular body 200 ′ is slackened.

  On the other hand, according to the present embodiment, the annular object 200 is conveyed by the hand 3 in a state where the pair of chucks 31d and 32d stretches the predetermined region 201 of the annular object 200 in a straight line. As described above, the predetermined area 201 is linearly stretched, and the linear predetermined area 201 can be hung on the pair of second shafts 21 and 22 on which the annular object 200 is hung. Thereby, in a pair of 2nd axis | shafts 21 and 22 with which the annular body 200 is hung, it can suppress that the annular body 200 loosens. In addition, when the annular object 200 is conveyed by the pair of arms 31 and 32, the predetermined area 201 is stretched in a straight line, so that the object on which the annular object 200 is hung is aligned with the second shaft 21, Even if it is the 2nd holding | maintenance apparatus 2 (horizontal type biaxial apparatus) which has 22, the cyclic | annular thing 200 can be hung easily. Depending on the above, it is possible to realize the annular object transporting apparatus 100 that can more reliably suppress the slack in the annular object 200.

  Further, according to the present embodiment, when the annular object 200 is conveyed, the pair of arms 31 and 32 has a distance α between the pair of chucks 31d and 32d that is equal to the circumferential length β of the annular object 200 in the predetermined region 201. Placed in. With this configuration, the annular object 200 can be stretched linearly. Accordingly, the hand 3 can hang the annular object 200 on the pair of second shafts 21 and 22 on which the annular object 200 is hooked in a state in which the annular object 200 is more difficult to loosen. Furthermore, the tension applied to the annular object 200 by the hand 3 is small, and it is possible to suppress an unnecessary load from acting on the annular object 200.

  Moreover, according to this embodiment, the operation | movement which tensions the cyclic | annular object 200 by the turning operation | movement of a pair of arms 31 and 32 by a pair of joint parts 33 and 34 is performed. According to this configuration, the predetermined region 201 of the annular object 200 can be stretched linearly by the operation of turning the arms 31 and 32.

  In addition, according to the present embodiment, the pair of arms 31 and 32 are configured to perform operations that are symmetrical to each other (operations that are symmetrical to the left and right in FIG. 1). According to this configuration, it is possible to reduce the space in which the arms 31 and 32 rotate. Thereby, the space required for the turning motion of the arms 31 and 32 can be made more compact.

  Further, according to the present embodiment, the pair of joint portions 33 and 34 incline the pair of arms 31 and 32 so that the predetermined region 201 is inclined with respect to the second shafts 21 and 22. According to this configuration, when the predetermined region 201 of the annular object 200 is hung on the pair of second shafts 21 and 22, an unintended portion of the annular object 200 is caught on the second shafts 21 and 22, so that the annular object 200 is It is possible to prevent the two shafts 21 and 22 from being hung in an unintended posture. Thereby, the part (inner peripheral surface) received by the 2nd shafts 21 and 22 among the annular objects 200 can be arrange | positioned in parallel with the 2nd shafts 21 and 22 more reliably.

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

  Further, according to the present embodiment, when the predetermined region 201 is hung on the pair of second shafts 21 and 22, the second shaft 21, while displacing the predetermined region 201 along the axial direction of the second shafts 21 and 22. The moving mechanism 36 operates so as to be displaced so as to approach 22. According to this configuration, when the hand 3 hangs the predetermined region 201 of the annular object 200 on the second shafts 21, 22, the annular object 200 can be advanced obliquely and hanged on the second shafts 21, 22. Accordingly, it is possible to prevent the annular object 200 from being hooked on the second shafts 21 and 22 in an unintended posture (inclined posture) by catching an unintended portion of the annular material 200 on the second shafts 21 and 22. Thereby, the part (inner peripheral surface) received by the 2nd shafts 21 and 22 among the annular objects 200 can be arrange | positioned in parallel with the 2nd shafts 21 and 22 more reliably.

  In addition, according to the present embodiment, the hand 3 is configured so that the annular object 200 that is hung on at least one of the pair of first shafts 11 and 12 is hung on at least one of the pair of second shafts 21 and 22. 200 is conveyed. According to this configuration, the annular object 200 is prevented from being loosened between a plurality of types of shaft devices (a pair of first shafts 11 and 12 and a pair of second shafts 21 and 22) having different shaft arrangements. Can pass.

  Further, according to the present embodiment, the pair of arms 31 and 32 are configured to hang the predetermined region 201 on at least one of the pair of second shafts 21 and 22 in a state where the predetermined region 201 is stretched linearly. The pair of second shafts 21 and 22 is configured such that the length L1 between the portions (upper end portions) of the pair of second shafts 21 and 22 where the predetermined region 201 is hung is shorter than the length α of the predetermined region 201. Moves relative to each other. According to this configuration, when the annular object 200 is conveyed from the vertical biaxial device (the pair of first shafts 11 and 12) to the horizontal biaxial device (the pair of second shafts 21 and 22), the pair of second A predetermined region 201 stretched linearly can be hung on both the shafts 21 and 22. Thereby, the slack of the annular body 200 in the pair of second shafts 21 and 22 can be more reliably suppressed.

Second Embodiment
Next, a second embodiment of the present invention will be described. In the following description, differences from the first embodiment will be mainly described, and the same components as those in the first embodiment will be denoted by the same reference numerals and detailed description thereof will be omitted.

  FIG. 8 is a schematic side view of the annular object transport device 100A according to the second embodiment of the present invention. Referring to FIG. 8, an annular material transfer device 100A (hereinafter also simply referred to as a transfer device 100A) is changed from a first holding device 1A that is a horizontal biaxial device to a second holding device 2A that is a vertical biaxial device. It is comprised so that the annular body 200 may be conveyed. Further, in the present embodiment, an example in which the transport device 100A transports a flat belt as the annular object 200A will be described.

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

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

  The first holding device 1A includes a pair of first shafts 11A and 12A arranged in a predetermined first facing direction D1A different from the second facing direction D2A, a rotating mechanism 13A for rotating the annular object 200A, and a pair of first And a moving mechanism 14A for changing the relative distance between the single axes 11A and 12A.

  The pair of first shafts 11A and 12A are configured to hold the annular object 200A while cooperatively applying tension to the annular object 200A. In the present embodiment, the first facing direction D1A is the horizontal direction. In the present embodiment, each of the pair of first shafts 11A and 12A includes a flanged pulley. For example, the pulleys of the first shafts 11A and 12A form a groove having a rectangular cross section, and the annular member 200A is fitted in the groove. Each of the pair of first shafts 11A and 12A has a central axis extending horizontally, and extends in parallel with each other in a state of being separated in the first facing direction D1A. In the present embodiment, the shapes of the first shafts 11A and 12A are the same. The pair of first shafts 11A and 12A may have different shapes, such as the effective diameter of one first shaft 11A being different from the effective diameter of the other first shaft 12A.

  The rotation mechanism 13A includes, for example, an electric motor, and rotates the first shaft 11A to rotate the annular object 200A wound around the pair of first shafts 11A and 12A.

  The moving mechanism 14A includes a drive source such as an electric actuator or a hydraulic actuator. In the present embodiment, one first shaft 11A is rotatably supported via a bearing (not shown), and the moving mechanism 14A makes the other first shaft 12A first opposite to the first shaft 11A. Displace in the direction D1A. Thereby, a pair of 1st axis | shaft 11A, 12A is comprised so that the pitch between mutual center axis lines can be changed. The moving mechanism 14A may be configured to displace one first shaft 11A, or may be configured to displace both the pair of first shafts 11A and 12A.

  In the first holding device 1A having the above-described configuration, the annular object 200A is hung on the left end portion and the right end portion of the pair of first shafts 11A and 12A, and the pair of first shafts 11A and 11A are driven by the rotation mechanism 13A. Rotates with 12A. Further, in the first holding device 1A, the distance between the pair of first shafts 11A and 12A is set to a predetermined value (large value) by the moving mechanism 14A, so that the annular object 200A becomes the pair of first shafts 11A. , 12A is tensioned. On the other hand, in the first holding device 1A, the distance between the pair of first shafts 11A and 12A is set to a predetermined value (small value) by the moving mechanism 14A. Thereby, the annular object 200A is released from the state in which the pair of first shafts 11A and 12A is tensioned, and can be attached to and detached from the pair of first shafts 11A and 12A.

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

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

  The pair of second shafts 21A and 22A are configured to hold the annular object 200A while applying tension to the annular object 200A in cooperation. In the present embodiment, the second facing direction D2A is the vertical direction. In the present embodiment, each of the pair of second shafts 21A and 22A includes a flanged pulley. For example, the pulleys of the second shafts 21A and 22A form a groove having a rectangular cross section, and the annular member 200A is fitted in the groove. Each of the pair of second shafts 21A and 22A has a central axis extending horizontally, and extends in parallel with each other in a state of being separated in the second facing direction D2A. In the present embodiment, the shapes of the second shafts 21A and 22A are the same. The pair of second shafts 21A and 22A may have different shapes, such as the effective diameter of one second shaft 21A being different from the effective diameter of the other second shaft 22A.

  The rotating mechanism 23A includes, for example, an electric motor, and rotates the second object 21A to rotate the annular object 200A wound around the pair of second axes 21A and 22A.

  The moving mechanism 24A includes a drive source such as an electric actuator or a hydraulic actuator. In the present embodiment, one second shaft 21A is rotatably supported via a bearing (not shown), and the moving mechanism 24 causes the other second shaft 22A to face the second shaft 21A in the second direction. Displace in the direction D2A. Thereby, a pair of 2nd axis | shafts 21A and 22A are comprised so that the pitch between mutual center axis lines can be changed. The moving mechanism 24A may be configured to displace one second shaft 21A, or may be configured to displace both the pair of second shafts 21A and 22A.

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

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

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

  FIG. 9 is a flowchart for explaining an example of the operation of the annular article conveyance device 100A. In addition, below, when it demonstrates with reference to a flowchart, it demonstrates, referring also to figures other than a flowchart suitably.

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

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

  Next, as shown in FIG. 10C, the pair of arms 31A, 32A is opened by the operation of turning the pair of arms 31A, 32A around the first turning axis X1 by the joint portions 33, 34. The predetermined area 201A of the annular object 200A is stretched linearly (step S24). Accordingly, when the annular object 200A is removed from the pair of first shafts 11A and 12A, the pair of arms 31A and 32A grip the annular object 200A so that the predetermined region 201A is stretched linearly. Further, when the annular object 200A is transported, the pair of arms 31A and 32A are arranged such that the distance αA between the pair of chucks 31d and 32d becomes the circumferential length βA of the annular object 200A in the predetermined region 201A. At this time, the annular member 200A is detached from the pair of first shafts 11A and 12A by the operation of the pair of arms 31A and 32A.

  Next, as shown in FIG. 11A, the annular member 200A is removed from the first holding device 1A by the operation of the moving mechanism 36 (step S25). For example, the moving mechanism 36A moves the pair of arms 31A and 32A in a direction parallel to the axial direction of the first shaft 11A, so that the annular object 200A is shifted from the periphery of the pair of first shafts 11A and 12A. Thereafter, the moving mechanism 36A moves the pair of arms 31A and 32A upward.

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

  Next, as shown in FIGS. 11 (C), 12 (A), and 12 (B) showing how the annular object 200A is hung on the pair of second shafts 21A and 22A, the hand 3A It inclines with respect to a pair of 2nd axis | shafts 21A and 22A (step S27). Specifically, each joint portion 33, 34 has a corresponding arm 31A, 32A for hanging the predetermined area 201A on one second shaft 21A in a state where the predetermined region 201A is inclined with respect to the central axis of the second shaft 21A. Is turned around the second turning axis X2. At this time, the joint portions 33 and 34 are arranged such that the outer peripheral surface of the annular object 200A in the predetermined region 201A forms an angle of, for example, about several tens of degrees with respect to the central axis of the second shaft 21A. Tilt to. As a result, the predetermined area 201A of the annular object 200A is arranged on the front side of the hand 3A, and portions of the annular object 200A other than the predetermined area 201A hang down on the rear side (the moving mechanism 36 side) of the hand 3A.

  Next, the predetermined region 201A of the annular object 200A is hooked on one second shaft 21A by the pair of arms 31A and 32A in a state of being stretched linearly (step S28). At this time, the pair of second shafts 21A, 22A is relatively moved in advance by the moving mechanism 24A so that the length between the central axes of the pair of second shafts 21A, 22A is shorter than the length when the annular object 200A is stretched. Has been. At this time, the entire hand 3A advances toward the second shaft 21A by the operation of the moving mechanism 36. More specifically, the moving mechanism 36 displaces the annular object 200A along the axial direction of the second shaft 21A, while the annular object 200A is in the second axis 21A in a direction (vertical direction) orthogonal to the second axis 21A. The hand 3A is moved so as to approach. Thereby, the predetermined area 201A of the annular object 200A is fitted to the second shaft 21A from one side of the pair of flange portions of the second shaft 21A.

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

  After the annular object 200A is hung on one second shaft 21A, the distance between the pair of second axes 21A and 22A is expanded by the moving mechanism 24A as shown in FIG. The pair of second shafts 21A and 22A is stretched (step S31).

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

  The above is an example of the conveyance of the annular object 200A by the annular object conveyance device 100A.

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

Further, according to the second embodiment, when the annular object 200A is conveyed from the horizontal biaxial device (the pair of first shafts 11A and 12A) to the vertical biaxial device (the pair of second shafts 21A and 22A), Since the annular object 200A is removed from the pair of first shafts 11A and 12A, the linear predetermined region 201A can be formed in the annular object 200A. The predetermined region 201A of the annular object 200A is hung on at least one of the pair of second shafts 21A and 22A, so that the slack of the annular object 200A on the pair of second shafts 21A and 22A can be more reliably suppressed.
<Third Embodiment>

  Next, a third embodiment of the present invention will be described. In the following, differences from the first embodiment and the second embodiment will be mainly described, and the same configurations as those of the first embodiment and the second embodiment will be denoted by the same reference numerals in the drawings, or Detailed description will be omitted by describing with reference to the same reference numerals.

  FIG. 14 is a schematic side view of an annular object conveyance device 100B according to the third embodiment of the present invention. Referring to FIG. 14, the annular material transfer device 100 </ b> B (hereinafter also simply referred to as a transfer device 100 </ b> B) is changed from a first holding device 1 that is a vertical biaxial device to a second holding device 2 that is a horizontal biaxial device. The annular body 200B is configured to be transported, and the annular body 200B is configured to be transported from the second holding device 2 that is a horizontal biaxial device to the first holding device 1 that is a vertical biaxial device. Yes. That is, the transport device 100B transports the annular object 200B from the first shafts 11 and 12 of the first holding device 1 to the second shafts 21 and 22 of the second holding device 2, and further the second of the second holding device 2. The annular member 200 </ b> B is configured to be conveyed from the shafts 21 and 22 to the first shafts 11 and 12 of the first holding device 1.

  In addition, when the annular device 200B is conveyed from the first holding device 1 to the second holding device 2, the conveying device 100B operates in the same manner as the conveying device 100 of the first embodiment, and the second holding device 2 performs the second operation. When the annular object 200B is conveyed to the 1 holding device 1, it operates similarly to the conveying device 100A of the second embodiment. In the present embodiment, an example will be described in which the annular material conveyance device 100B conveys an unvulcanized rubber belt as the annular material 200B.

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

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

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

  Unlike the base end side portions 31a and 32a of the first embodiment, the base end side portions 31aB and 32aB are in the axial direction of the base end side portions 31aB and 32aB, which are directions in which the base end side portions 31aB and 32aB extend linearly. It is configured to be stretchable along. For example, each of the base end side portions 31aB and 32aB is configured as a mechanism including a cylinder and a rod that are operated by supplying and discharging a working fluid as compressed air or pressurized oil. Each of the base end side portions 31aB and 32aB is configured such that the length increases along the axial direction by extending the rod from the cylinder as the working fluid is supplied and discharged. And each of base end side part 31aB and 32aB is comprised so that length may become short along the axial direction, when a rod shrinks | retracts with respect to a cylinder with supply / discharge of a working fluid. In addition, each of the base end side portions 31aB and 32aB may be configured to be extendable and retractable along the axial direction by including a rack and pinion mechanism or a ball screw mechanism.

  Next, an example of the operation of the transport apparatus 100B will be described. In the operation of the transport apparatus 100B, the following processing is performed on the annular object 200B. First, due to the operation of the conveying device 100B, the annular object 200B rotates while being wound around the pair of first shafts 11 and 12. At this time, a skive treatment process described later in which a skive treatment is performed on the annular body 200B is performed. Then, after the skive treatment step, the annular object 200 </ b> B is conveyed to the pair of second shafts 21 and 22. Then, the annular object 200 </ b> B rotates while being wound around the pair of second shafts 21 and 22. At this time, a cover winding process, which will be described later, is performed so that the outer covering is wound around the annular object 200B. After the cover winding process, the sheet is conveyed to the first shafts 11 and 12. Further, the annular body 200B conveyed to the first shafts 11 and 12 is subjected to a scale for determining whether or not the dimensions are suitable for the vulcanizing mold.

  In the operation method of the transport device 100B, the transport device 100B transports the annular object 200B from the first shafts 11 and 12 to the second shafts 21 and 22, and the second shafts 21 and 22 to the first shafts 11 and 12. And the process of conveying to. In addition to these steps, processing of the annular object 200B and a measuring step are performed. That is, when the operation method of the transport apparatus 100B of the present embodiment is performed, the annular object 200B has a skive treatment process, the first transport process shown in the first embodiment, the cover winding process, and the second embodiment. It will be in the state which can be vulcanized through the 2nd conveyance process shown by (2) and the inner peripheral length measurement process for a measuring scale.

  In addition, the annular object 200B processed and conveyed in this embodiment is an unvulcanized rubber belt in a state before vulcanization of the wrapped V belt, and is an endless annular unvulcanized rubber belt having flexibility.

  FIG. 15 is a flowchart for explaining an example of the operation of the annular article conveyance device 100B according to the third embodiment of the present invention. In addition, below, when it demonstrates with reference to a flowchart, it demonstrates, referring also to figures other than a flowchart suitably.

  In the operation method of the transport apparatus 100B in the present embodiment, a skive treatment process (step S40), a first transport process (step S41), a cover winding process (step S42), a second transport process (step S43), An inner circumferential length measuring step (step S44) for measuring a circumferential length (hereinafter referred to as an inner circumferential length) on the inner circumferential surface of the annular object 202 is performed.

  In the present embodiment, first, a skive treatment step S40 in which a skive treatment is performed on the annular body 200B is performed. In the skive treatment, a cross section perpendicular to the circumferential direction is formed in a rectangular shape, and both end portions of the rotating endless unvulcanized rubber belt are cut so as to scrape over the circumferential direction. It is processing. In the present embodiment, in the skive treatment step S40, the annular body 200B wound around the first shafts 11 and 12 is rotated by rotating the first shaft 11. In the skive treatment step S40, a skive cutter (not shown) is brought into contact with the inner peripheral side of the rotating annular body 200B, and both corners on the inner peripheral side are circumferentially covered by the blades of the skive cutter. A skive process is performed on the annular object 200B. The annular member 200B subjected to skive treatment is formed in a substantially trapezoidal shape in which a portion on the outer peripheral side is formed in a substantially rectangular shape and a portion on the inner peripheral side tapers inward in a cross section perpendicular to the circumferential direction. It will be in the state.

  1st conveyance process S41 is comprised as a process of conveying the cyclic | annular object 200B to which the skive process was performed from a pair of 1st axis | shafts 11 and 12 of a conveying apparatus 100B to a pair of 2nd axis | shafts 21 and 22. FIG. In the first transport step S41, each of the pair of arms 31B and 32B is in a state where the rod is retracted relative to the cylinder and the length is shortened along the axial direction. And in 1st conveyance process S41, the conveyance apparatus 100B is the predetermined area | region 201 (it shows in FIG. 14) of the cyclic | annular object 200B arrange | positioned between a pair of chuck | zipper 31d and 32d similarly to the conveyance apparatus 100 of 1st Embodiment. The pair of chucks 31d and 32d grip the annular object 200B such that the length of the annular object 200B is less than a half circumference of the annular object 200B. In addition, the predetermined area | region 201 specified by 1st conveyance process S41 in the cyclic | annular object 200B is comprised as a part similar to the predetermined area | region 201 in the cyclic | annular object 200 of 1st Embodiment. In the first transport step S41, the transport device 100B transports the annular object 200B by the hand 3B in a state where the pair of chucks 31d and 32d stretches the predetermined region 201 in a straight line. In addition, since 1st conveyance process S41 is comprised similarly to the process of step S11 thru | or step S19 described in 1st Embodiment, detailed description is abbreviate | omitted.

  The cover winding step S42 is a step of covering the periphery 200B subjected to the skive treatment with a covering cloth (not shown). The cover winding step S42 rotates the second shaft 21 to rotate the annular object 200B wound around the second shafts 21 and 22, and removes the entire peripheral surface of the annular object 200B over the entire length in the circumferential direction. Cover with cloth. Thereby, the annular object 200B configured by covering the annular object 200B with the covering cloth is formed.

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

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

  Next, the transport apparatus 100B grips the annular object 200B with the pair of chucks 31d and 32d (step S47). At this time, in the transfer device 100B, the predetermined region 201A of the annular object 200B disposed between the pair of chucks 31d and 32d has a circumference less than a half circumference of the annular object 200B, similarly to the transfer device 100A of the second embodiment. As described above, the pair of chucks 31d and 32d grip the annular object 200B. Note that the predetermined area 201A (not shown in FIG. 14) specified in the second conveyance step S43 in the annular object 200B is configured as a part similar to the predetermined area 201A in the annular object 200A of the second embodiment. Step S47 is configured as the same step as step S23 in the second embodiment.

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

  Next, the annular member 200B is removed from the second holding device 2 by the operation of the moving mechanism 36 (step S49). Next, the moving mechanism 36 moves the base portion 35 from a position adjacent to the second holding device 2 to a position adjacent to the first holding device 1. Accordingly, the pair of arms 31B and 32B and the annular object 200B are adjacent to the pair of first shafts 11 and 12 of the first holding device 1 (step S50). At this time, the hand 3B conveys the annular object 200B in a state where the pair of chucks 31d and 32d keeps the predetermined area 201A of the annular object 200B in a straight line.

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

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

  Next, the pair of chucks 31d and 32d are separated from the annular body 200B, and the hand 3B is retracted with respect to the pair of first shafts 11 and 12 by the operations of the joint portions 33 and 34 and the moving mechanism 36 (step S54). Thereby, the annular object 200 </ b> B is suspended from the first shaft 11. Note that step S54 is configured as the same step as step S30 in the second embodiment.

  After the annular object 200 </ b> B is hung on the first shaft 11, the distance between the pair of first shafts 11 and 12 is expanded by the moving mechanism 14, so that the annular object 200 </ b> B is formed on the pair of first shafts 11 and 12. It is stretched (step S55). Step S55 is configured as the same step as step S31 in the second embodiment. Thus, the second transfer process S43 is completed.

  When the second conveying step S43 is completed, an inner circumference measuring step S44 is performed in order to perform a measurement for determining whether or not the dimensions are compatible with the vulcanizing mold.

  In the inner circumferential length measuring step S44, an annular body 200B that is configured as an unvulcanized rubber belt that has been subjected to skive treatment and is covered with an outer cover cloth and is stretched between the pair of first shafts 11 and 12 is used. Is measured (step S44). At this time, it is determined whether or not the ring 200B, which is an unvulcanized rubber belt whose periphery is covered with a covering cloth, has a size that can be adapted to a mold used in the subsequent vulcanization process. Is done.

  The above is an example of the conveyance of the annular object 200B by the annular object conveyance device 100B.

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

  According to the third embodiment, when the annular object 200B is conveyed from the vertical biaxial device (the pair of first shafts 11 and 12) to the horizontal biaxial device (the pair of second shafts 21 and 22), From the time when the annular object 200B is removed from the pair of first shafts 11 and 12, the linear predetermined region 201 can be formed in the annular object 200B. And the predetermined area | region 201 of the cyclic | annular thing 200B is hung on a pair of 2nd shafts 21 and 22, and the slack of the cyclic | annular object 200B in a pair of 2nd shafts 21 and 22 can be suppressed more reliably.

  Further, according to the third embodiment, when the annular object 200B is conveyed from the horizontal biaxial device (the pair of second shafts 21, 22) to the vertical biaxial device (the pair of first shafts 11, 12), Since the annular object 200B is removed from the pair of second shafts 21 and 22, the linear predetermined region 201A can be formed in the annular object 200B. The predetermined region 201A of the annular object 200B is hung on at least one of the pair of first shafts 11 and 12, so that the slack of the annular object 200B on the pair of first shafts 11 and 12 can be more reliably suppressed.

  The embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. For example, you may change as follows.

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

  (2) In the above-described embodiment, the conveyance of the annular object 200; 200A; 200B between the vertical or horizontal biaxial devices has been described as an example. However, this need not be the case. For example, the present invention may be applied to a form in which an annular object is hung on one or two or more hanging platforms.

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

  (4) In the above-described embodiment, the description has been given of the form of the annular material conveying device including the two biaxial devices of the vertical biaxial device and the horizontal biaxial device. However, this need not be the case. For example, the form of the annular article conveyance apparatus comprised including three or more biaxial apparatuses may be implemented.

  (5) Although various forms and modifications of the present invention have been described above, the present invention is configured such that the pair of chucks 31d and 32d stretch the predetermined region 201; It is sufficient if 200B is transported by the hands 3; 3A; 3B, and other structures may not be provided.

  The present invention can be widely applied as an annular object conveying device.

3, 3A, 3B Hand 11, 12, 11A, 12A First shaft 21, 22, 21A, 22A Second shaft 31d, 32d Chuck 31, 31A, 31B Arm 32, 32A, 32B Arm 33, 34 Joint portion 35 Base portion 36 Moving mechanism 100, 100A, 100B Annular object conveying device 200, 200A, 200B Annular object 201, 201A Predetermined area D1, D1A First opposing direction D2, D2A Second opposing direction L1 Where the predetermined area is multiplied by the second axis Length L1A between the length of the first axis where the predetermined area is multiplied α spacing between chucks β circumference of the annular object in the predetermined area

Claims (10)

A hand for carrying a flexible annular object;
The hand includes a pair of arms each having a chuck for gripping the annular object,
The pair of chucks are configured to grip the annular object such that a predetermined region of the annular object disposed between the pair of chucks has a circumferential length less than a half circumference of the annular object,
An annular object conveying apparatus, wherein the annular object is conveyed by the hand in a state where the pair of chucks stretches the predetermined region linearly. The annular object conveying device according to claim 1,
When the annular object is conveyed, the pair of arms are arranged such that a distance between the pair of chucks is a circumferential length of the annular object in the predetermined region. . The annular article conveying device according to claim 1 or 2,
The hand further includes a pair of joints for displacing each of the pair of arms, and a base for supporting the pair of joints,
An annular object conveying device configured to perform an operation of stretching the annular object by a pivoting operation of the arm by the joint portion. The annular object conveying device according to claim 3,
A pair of said arms are comprised so that a mutually symmetrical operation | movement may be performed, The cyclic | annular object conveyance apparatus characterized by the above-mentioned. The annular object conveying device according to claim 3 or 4, wherein
The annular object conveying device according to claim 1, wherein the joint portion tilts the arm to be engaged with the shaft in a state where the predetermined region is inclined with respect to an axis on which the predetermined region is applied. It is an annular article conveyance device given in any 1 paragraph of Claims 1-5,
The said hand is further provided with the moving mechanism for moving a pair of said arm, The cyclic | annular object conveyance apparatus characterized by the above-mentioned. The annular object conveying device according to claim 6,
When the predetermined area is hung on a predetermined axis, the moving mechanism is configured to operate so as to displace the predetermined area along the axial direction of the axis while moving the predetermined area closer to the axis. An annular material conveying device characterized by comprising: It is an annular article conveyance device given in any 1 paragraph of Claims 1-7,
A pair of first axes arranged in a predetermined first facing direction;
A pair of second shafts arranged in a predetermined second opposing direction different from the first opposing direction;
The hand is configured to convey the annular object so that the annular object that is hung on at least one of the pair of first shafts is hung on at least one of the pair of second axes. An annular object conveying device characterized by the above. The annular object conveying device according to claim 8,
The first facing direction is a vertical direction;
The second facing direction is a horizontal direction;
A pair of said 2nd axis | shaft is comprised so that change of the pitch between each axis | shaft is possible,
The pair of arms are configured to hang the predetermined region on at least one of the pair of second axes in a state where the predetermined region is stretched linearly.
The pair of the second shafts are configured to move relative to each other so that a length between portions of the pair of the second shafts where the predetermined region is hung is shorter than a length of the predetermined region. An annular object conveying device characterized by the above. The annular object conveying device according to claim 8,
The first facing direction is a horizontal direction;
The second facing direction is a vertical direction;
The pair of first axes is configured to be able to change a pitch between the axes.
The pair of first shafts are configured to move relative to each other such that a length between portions of the pair of first shafts where the predetermined region is hung is shorter than a length of the predetermined region.
The pair of arms are configured to grip the annular object so that the predetermined region is stretched linearly when the annular object is removed from the pair of first shafts. Annular material transfer device.

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