JP2023016486A - Extension force control method of flexible material - Google Patents

Abstract

To provide an extension force control method of a flexible material which can set the flexible material such as fabric easy to be deformed with small force to a prescribed position with constant tension.SOLUTION: An extension force control method of a flexible material includes: a first fixing step S10 for fixing a flexible material M at a reference position P1; and a first moving step S20 for applying extension force to the flexible material M by moving tension addition means 4 in a direction separated from the reference position P1 while sliding the tension addition means on a surface of the flexible material M. In the first moving step S20, the extension force of the flexible material M is controlled by measuring force that the tension addition means 4 pulls the flexible material M in a moving direction and controlling dynamic friction force when the tension addition means 4 slides on the surface of the flexible material M on the basis of the force.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a technique for controlling the stretch force of an elastic material. It relates to the technology of force control methods.

Conventionally, there has been known a stretching force control method for a stretchable material in which stretchable materials such as cut fabrics are arranged at a predetermined position with a predetermined stretching force, and the stretchable materials are superimposed.

In the case of appropriately adjusting the stretching force of a stretchable fabric and arranging the fabric at an arbitrary position without wrinkles or folds, the placement is often performed manually.

Further, a technique of sucking and holding a stretchable fabric at a plurality of positions by suction means such as a suction blower and positioning and arranging the fabric by a robot or the like has been conventionally used (see, for example, Patent Document 1).

JP 2014-069934 A

When arranging the fabric on a device for processing the fabric, the elongation and tension of the fabric are appropriately controlled by hand so that the elongation force of the fabric is constant, and the fabric is placed at a predetermined position.
In the process of processing the fabric placed under constant tension (without wrinkles, folds, etc.), the shape and position of the fabric are detected with a camera or the like, and the data is used to apply adhesive to the fabric. In addition, the fabric placed at a predetermined position may be suction-held and transferred to the predetermined position. For example, in the process of processing while maintaining a constant tension state, the fabric may be transferred from the position where it was initially placed, overlapped with another fabric, and adhered.

However, in the initial placement of the fabric, a person checks for subtle differences in the stretch force and wrinkles of the fabric and adjusts it manually so that the stretch force is constant. Wrinkles may occur due to change. Moreover, when the adjusting operation is performed by a machine, it is difficult to adjust the stretching force, and it is difficult to arrange the fabric with a constant tension without wrinkling or folding.

Therefore, in view of such problems, the present invention provides a stretch force control method for a stretch material that can set a stretch material such as a fabric that is easily deformed by a small force at a predetermined position with a constant tension.

The problems to be solved by the present invention are as described above, and the means for solving the problems will now be described.

That is, in the present invention, a first fixing step of fixing the elastic material at the reference position;
a first moving step of applying a stretching force to the stretchable material by moving the tension applying means in a direction away from the reference position while sliding the surface of the stretchable material;
In the first moving step,
By measuring the force with which the tension applying means pulls the stretchable material in the moving direction and controlling the dynamic friction force when the tension applying means slides on the surface of the stretchable material based on the force,
It controls the stretching force of the elastic material.

Further, in the present invention, the tension applying means is
A sandwiching portion that sandwiches the stretchable material is provided,
The dynamic friction force may be controlled by controlling the holding force by the holding portion.

Further, in the present invention, the holding portion is
comprising at least one rotating arm;
sandwiching the stretchable material by rotating the rotating arm;
The clamping force of the clamping portion may be controlled by controlling the rotational torque of the rotating arm.

Further, in the present invention, after the tension applying means is moved to a predetermined stop position and stopped by the first moving step, the second reference is located within the section from the reference position to the stop position. a second fixing step of fixing the stretchable material in position;
and a second moving step of applying a stretching force to the stretchable material by moving the tension applying means in a direction away from the second reference position while sliding the surface of the stretchable material. may be

Further, in the present invention, after the operation of the first moving step is completed, the elastic material is temporarily fixed at the stop position by the tension applying means moved to the stop position,
In the second moving step,
After the operation of the second fixing step is completed, the elastic material is unfixed by the tension applying means, and tension is applied in a direction away from the second reference position while sliding the surface of the elastic material. A stretching force may be applied to the stretchable material by moving the applying means.

Further, in the present invention, for another material placed at a predetermined position,
overlapping at least a portion of the stretchable material;
The method may further include a joining step of joining the stretchable material to the different material while controlling the stretching force of the stretchable material.

Further, in the present invention, in the bonding step,
At least one of the elastic material and the other material has an adhesive layer formed on a surface facing the other,
The elastic material and the different material may be joined by pressing and crimping a predetermined section where the stretchable material and the different material are superimposed.

As effects of the present invention, the following effects are obtained.

In the present invention, the stretching force of the elastic material can be controlled based on the force applied by the tension applying means to pull the fabric in the direction of movement. It can be kept in a stretched state by applying a stretching force of

BRIEF DESCRIPTION OF THE DRAWINGS The front view which shows the extension force control apparatus which concerns on embodiment of this invention. FIG. 2 is a flow diagram showing a stretching force control method according to an embodiment of the present invention; The front view which shows the extension force control apparatus in the 1st fixing step which concerns on embodiment of this invention. The front view which shows the extension force control apparatus in the 1st moving step which concerns on embodiment of this invention. The front view which shows the extension force control apparatus in the 1st moving step which concerns on embodiment of this invention. The block diagram which shows the control means which concerns on embodiment of this invention. 1 is a front view showing an extension force control device having a holding portion according to an embodiment of the present invention; FIG. FIG. 1 is a front view showing an extension force control device having a holding portion with a rotation mechanism according to an embodiment of the present invention; FIG. 2 is a front view showing the extension force control device having a holding portion in which the upper holding plate is moved upward according to the embodiment of the present invention; FIG. 2 is a flow diagram showing a stretching force control method according to an embodiment of the present invention; The front view which shows the extension force control apparatus in the 2nd fixing step which concerns on embodiment of this invention. The front view which shows the extension force control apparatus in the 2nd moving step which concerns on embodiment of this invention. FIG. 2 is a flow diagram showing a stretch force control method having a bonding step according to an embodiment of the present invention;

Next, embodiments of the invention will be described.
First, the overall configuration of a stretch force control device 1 according to an embodiment of the present invention will be described with reference to FIG.

The stretch force control device 1 is a device that controls the stretch force of the stretchable material M. As shown in FIG. The stretchable material M is a planar stretchable material, and is composed of cut fabric, for example. Moreover, the stretching force is a force that deforms the stretchable material M in the stretching direction. In the state where the stretching force is not applied, the elastic material M is restored to its normal state with wrinkles and twists due to the restoring force.

As shown in FIG. 1, the stretching force control device 1 according to the present embodiment includes a table 2 on which an elastic material M is placed, and one portion of the elastic material M placed on the table 2 is placed on the table 2. Fixing means 3 for immovably fixing to the elastic material M and tension applying means 4 for applying a stretching force to the stretchable material M are provided.

The table 2 has a flat base surface 2a and supports the elastic material M in a flat state. The table 2 is configured to have a normal mounting type base surface 2a. However, the present invention is not limited to this configuration, and for example, a configuration having the base surface 2a provided with suction means for sucking the stretchable material M onto the base surface 2a by suction means such as a blower may be employed.

In this embodiment, the fixing means 3 includes a fixing portion 11 that fixes the stretchable material M to the table 2 by coming into contact with one portion of the stretchable material M, and slides the fixed portion 11 in the vertical direction. and a sliding portion 12 that allows the In this embodiment, the sliding portion 12 is composed of an air cylinder 12A. The air cylinder 12A is connected to the control means 5 so that the control means 5 can control the upward/downward movement of the sliding portion 12 (see FIG. 6).

The stretchable material M, which is immovably fixed to the table 2 by the fixing means 3, can be stretched on the basis of the location. Therefore, the position fixed to the table 2 by the fixing means 3 so as not to move is defined as a reference position P1.

The tension applying means 4 is means for applying a stretching force to the stretchable material M. As shown in FIG. The tension applying means 4 has a moving portion 21 and is configured to be movable in a direction parallel to the base surface 2 a of the table 2 by the operation of the moving portion 21 . For example, the moving part 21 is configured by a linear motor 21A, and is configured to be capable of reciprocating in a direction away from or approaching the reference position P1 by driving the linear motor 21A. The linear motor 21A is connected to the control means 5 so that the movement of the moving part 21 can be controlled by the control means 5 .
Control of the movement of the moving part 21 is performed by controlling parameters such as the moving distance, moving torque, and moving speed of the moving part 21 . The moving part 21 is preferably composed of a linear motor 21A, but is not limited to this, and may be composed of, for example, a ball screw nut mechanism.

The tension applying means 4 has a pressing portion 22 . The pressing portion 22 is a portion that applies a downward force to the elastic material M to generate a dynamic frictional force. The dynamic frictional force is calculated from the product of the coefficient of dynamic friction and the vertical force, which is the force in the downward direction. The pressing portion 22 has a pressing plate 23 and a vertical moving portion 24 that moves the pressing plate 23 in the vertical direction. The vertical movement unit 24 is configured by a servomotor 24A. The servomotor 24A is connected to the control means 5, and is configured to be able to control the vertical movement of the pressing portion 22 by driving the servomotor 24A. The vertical movement of the vertical movement section 24 is controlled by controlling parameters such as the movement distance, movement torque, and movement speed of the vertical movement section 24 .

The pressing portion 22 is attached to the lower surface of the linear motor 21A of the moving portion 21, and is configured to be movable in a direction parallel to the base surface 2a of the table 2 by movement of the linear motor 21A. In this embodiment, the moving portion 21 is configured to be reciprocable in a straight line, and thereby the pressing portion 22 is configured to be reciprocable in a direction away from or approaching the reference position P1. .

The tension applying means 4 has a measuring section 27 (see FIG. 6). The measurement unit 27 is a device that measures the extension force. Extension force is approximately equal to dynamic friction force. The measurement unit 27 includes a torque meter 27A that measures the torque of the linear motor 21A. The extension force can be calculated based on the torque of the moving motor 21B measured by the torque meter 27A. In the present embodiment, the measurement unit 27 is provided with a torque meter 27A, and the extension force is calculated using the torque meter 27A. However, the present invention is not limited to this. There is no particular limitation as long as the state of the load can be detected. Alternatively, the elongation force may be measured directly.

Next, a stretching force control method using the fixing means 3 and the tension applying means 4 will be described with reference to FIGS. 2 to 5. FIG.

First, as shown in FIG. 1, the elastic material M is placed on the base surface 2a of the table 2 in the initial state. At this time, the fixing means 3 is positioned apart from the elastic material M, and the tension applying means 4 is adjacent to the fixing means 3 .

Next, a first fixing step S10 is performed. In the first fixing step S10, the elastic material M is immovably fixed to the table 2 by the fixing means 3, as shown in FIG. Specifically, the control means 5 fixes the stretchable material M with the fixing portion 11 by driving the air cylinder 12A of the sliding portion 12 to move it downward. A position where the elastic material M is fixed to the table 2 by the fixing means 3 so as not to move is defined as a reference position P1. Thereby, the stretchable material M is immovably fixed from the reference position P1.

After the first fixing step S10, a first moving step S20 is performed. In the first moving step S20, the control means 5 operates the tension applying means 4 to apply a stretching force to the stretchable material. Specifically, as shown in FIG. 4 , the control means 5 controls the vertical movement of the vertical movement section 24 so that the elastic material M is pressed against the base surface 2 a of the table 2 by the pressing plate 23 . The pressing plate 23 applies a normal force to the elastic material M by pressing it downward.

In the first moving step S20, as shown in FIG. 5, the control means 5 operates the moving part 21 to move the pressing plate 23 in a predetermined direction. The moving part 21 moves a predetermined distance Q1. The predetermined distance Q1 is a distance at which the tensile force can be applied by the tension applying means 4 .
The pressing plate 23 moves while sliding on the surface of the elastic material M. At this time, a dynamic frictional force acts between the pressing plate 23 and the surface of the stretchable material M, and the dynamic frictional force becomes substantially equal to the force F1 that pulls the stretchable material M. The pressing plate 23 is configured to be movable in a direction parallel to the base surface 2 a of the table 2 .

In the first moving step S20, the control means 5 uses the measuring section 27 to measure the force F1 that pulls the stretchable material M. As shown in FIG. In this embodiment, the torque meter 27A measures the force F1 that pulls the stretchable material M from the torque applied to the moving part 21 to control the dynamic frictional force.

As described above, the force F1 that pulls the stretchable material is controlled by controlling the dynamic friction force from the value measured by the torque meter 27A. As another method, the relationship between the change in the dynamic friction force (normal force) at a predetermined speed and the change in the measured value by the torque meter 27A is stored in advance in the control means 5 or an external storage device, and the measurement by the torque meter 27A is performed. From the value, the pulling force F1 can be controlled by controlling the vertical movement of the vertical movement part 24, ie, the vertical force of the pressing plate 23, so that the desired pulling force F can be obtained. However, the method of measuring the force F1 that pulls the stretchable material and the method of controlling the dynamic frictional force may be appropriately determined in accordance with the characteristics of each configured device and the stretchable material to be controlled, and are not particularly limited.

Further, as shown in FIG. 7, it is also possible to adopt a configuration in which a holding portion 31 is provided instead of the pressing portion 22 of the tension applying means 4 . The holding portion 31 has an upper holding plate 32, a vertical moving portion 33 that moves the upper holding plate 32 in the vertical direction, and a lower holding plate 34 that supports the stretchable material M from below. The vertical movement unit 33 is configured by a servomotor 33A. The servomotor 33A is connected to the control means 5 and configured to be able to control vertical movement by driving the servomotor 33A. The lower clamping plate 34 is arranged slightly above the base surface 2a.

The holding portion 31 is attached to the lower surface of the linear motor 21A of the moving portion 21, and is configured to be movable in a direction parallel to the base surface 2a of the table 2 by movement of the linear motor 21A. In the present embodiment, the moving portion 21 is configured to be reciprocable in a straight line, so that the holding portion 31 is configured to be reciprocable in a direction away from or approaching the reference position P1. there is Since the elastic material M can be pulled while holding the elastic material M between the upper holding plate 32 and the lower holding plate 34 of the holding portion 31, the force F1 for pulling the elastic material M can be reduced to Easy to keep constant.

Further, as shown in FIGS. 8 and 9, the vertical movement portion 33 of the holding portion 31 can be configured by a rotating mechanism 33B composed of a servomotor 33C and a rotating arm 33D. The servomotor 33C has a rotating shaft 33Ca extending perpendicularly to the vertical direction. The rotating arm 33D is configured to be vertically rotatable about a rotating shaft 33Ca, and the upper holding plate 32 is connected to the tip of the rotating arm 33D.

The holding portion 31 is configured to hold the elastic material M between the upper holding plate 32 and the lower holding plate 34, and the rotating torque of the rotating arm 33D is controlled by the rotating mechanism 33B. is configured to be able to control the rotation of the upper holding plate 32 with. With this configuration, fine force control can be performed by rotating the rotating arm 33D with the servomotor 33C, so the accuracy of controlling the force F1 that pulls the stretchable material M can be improved.
As described above, the force F1 that pulls the stretchable material is controlled by controlling the dynamic friction force from the value measured by the torque meter 27A. As another method, the relationship between the change in the dynamic friction force (normal force) at a predetermined speed and the change in the measured value by the torque meter 27A is stored in advance in the control means 5 or an external storage device, and the measurement by the torque meter 27A is performed. The pulling force F1 can also be controlled by controlling the vertical movement of the vertical moving part 24, that is, the vertical force of the pressing plate 23, so as to obtain the desired pulling force F from the value.

Further, as shown in FIGS. 10 to 12, in the stretching force control method using the fixing means 3 and the tension applying means 4, after the first moving step S20, the second fixing step S30 and the second moving step There is also a method of providing S40.

The extension force control device 1 further comprises second fixing means 6 . In this embodiment, the second fixing means 6 includes a fixing portion 41 that fixes the stretchable material M to the table 2 by coming into contact with one portion of the stretchable material M, and the fixing portion 41 is vertically and a sliding portion 42 for sliding. In this embodiment, the sliding portion 42 is composed of an air cylinder 42A. The air cylinder 42</b>A is connected to the control means 5 so that the control means 5 can control the upward/downward movement of the sliding portion 42 .

The stretchable material M that is immovably fixed to the table 2 by the second fixing means 6 can be stretched on the basis of the location. The position fixed by the second fixing means 6 is a position different from the reference position P1. Therefore, the position fixed to the table 2 by the second fixing means 6 so as not to move is defined as a second reference position P2.

In the first moving step S20, when the tension applying means 4 moves the predetermined distance Q1 and stops at the stop position R1, the second fixing step S30 is performed. In the second fixing step S30, as shown in FIG. 11, the second fixing means 6 is used to move the stretchability located within the section from the initial position of the pressing portion 22 in the first moving step S20 to the predetermined distance Q1. A second reference position P2 of the material M is fixed. The second reference position P2 may be any position within a section from the initial position of the pressing portion 22 in the first movement step S20 to a predetermined distance Q1. It is preferable to be in the vicinity of a position separated by a distance Q1.

By configuring in this way, it is possible to keep the extension force between the reference position P1 and the second reference position P2 constant.

After completing the second fixing step S30, a second moving step S40 is performed. In the second moving step S40, as shown in FIG. 12, the tension applying means 4 is slid on the surface of the elastic material M in a direction away from the second reference position P2 fixed in the second fixing step S30. move while Specifically, the control means 5 controls the vertical movement of the vertical movement section 24 so that the elastic material M is pressed against the base surface 2 a of the table 2 by the pressing plate 23 . The pressing plate 23 applies a normal force to the elastic material M by pressing it downward.

In the second moving step S40, the control means 5 operates the moving part 21 to move the pressing plate 23 in a predetermined direction and stop at the second stop position R2. The moving part 21 moves a second predetermined distance Q2. The second predetermined distance Q2 is a distance at which the tension applying means 4 can apply a stretching force. The predetermined distance Q1 and the second predetermined distance Q2 may be the same distance.
The pressing plate 23 moves while sliding on the surface of the elastic material M. At this time, a dynamic frictional force acts between the pressing plate 23 and the surface of the stretchable material M, and the dynamic frictional force becomes substantially equal to the force F1 that pulls the stretchable material M. The pressing plate 23 is configured to be movable in a direction parallel to the base surface 2 a of the table 2 .

In the second movement step S40, the control means 5 uses the measuring section 27 to measure the force F1 that pulls the stretchable material M. As shown in FIG. In this embodiment, the torque meter 27A measures the force F1 that pulls the elastic material from the torque applied to the moving part 21, and controls the dynamic friction force.

By configuring in this way, the dynamic friction force is controlled from the measured value by the torque meter 27A, and the force F1 that pulls the elastic material is controlled. As another method, the relationship between the change in the dynamic friction force (normal force) at a predetermined speed and the change in the measured value by the torque meter 27A is stored in advance in the control means 5 or an external storage device, and the measurement by the torque meter 27A is performed. The pulling force F1 can also be controlled by controlling the vertical movement of the vertical moving part 24, that is, the vertical force of the pressing plate 23, so as to obtain the desired pulling force F from the value.

Further, after the operation of the first movement step S20 is completed, the elastic material M is temporarily fixed at the stop position R1 by the tension applying means 4 moved to the stop position R1 until the second reference position P2 is fixed. can be Thereby, the stretching force of the stretchable material M from the completion of the first moving step S20 to the completion of the second fixing step S30 becomes more stable.

In the above description, the second reference position P2 is fixed by the second fixing means 6 in the second fixing step S30. It may be moved to the position P2 and fixed, and the structure of the fixing means at each reference position is not limited.

After the operation of the second fixing step S30 is completed, in the second moving step S40, after releasing the fixing of the stretchable material M by the tension applying means 4, while sliding the surface of the stretchable material M, the second reference A stretching force is applied to the stretchable material M by moving the tension applying means 4 in a direction away from the position P2.

In the second movement step S40, the control means 5 uses the measuring section 27 to measure the force F1 that pulls the stretchable material M. As shown in FIG. In this embodiment, the torque meter 27A measures the force F1 that pulls the elastic material from the torque applied to the moving part 21, and controls the dynamic friction force. Since the second moving step S40 performs the same control as the first moving step S20, detailed description is omitted.

For convenience, in each drawing, the moving direction 1 of the moving part 21 in the first moving step S20 and the moving direction 2 of the moving part 21 in the second moving step S40 are the same direction (on the same straight line). The moving direction 2 in the second moving step S40 may be a direction crossing the moving direction 1. FIG. For example, by controlling the extension force control device 1 with an XY robot or the like, it is possible to move in a direction intersecting with the moving direction 1 . In the above description, the first moving step S20 and the second moving step S40 are described as continuously controlling the stretching force of the elastic material M, but the stretching force may be controlled discontinuously. The movement amount, movement direction, and control position may be determined according to the shape of the stretchable material M and the position where the stretching force is controlled, and the control method of each step is not particularly limited.

Further, a bonding step S110 may be further provided in which at least part of the stretchable material M is superimposed on another material placed at a predetermined position to bond the stretchable material and the different material.
Step S110 is preferably performed after the first movement step S20, as shown in FIG.
In the joining step S110, at least a portion of the stretchable material M, which has been stretched to remove wrinkles and the like, is overlaid on another material. While the elastic material M in a stretched state is placed on the table 2, another material is superimposed and placed. The different material may be a non-stretchable material, a different stretchable material, or the same material as the stretchable material.

At least one of the stretchable material M and the other material has an adhesive layer formed on the surface facing the other in joining with the other material. Although not particularly limited, the adhesive layer is composed of, for example, a hot-melt adhesive, and joins the stretchable material and another material by heat pressing. The adhesive layer may be formed on the entire surface of each material, or may be formed only on the adhesive portion. Thermoplastic resins used for adhesives include, for example, polyurethane-based hot-melt resins, polyester-based hot-melt resins, polyamide-based hot-melt resins, EVA-based hot-melt resins, polyolefin-based hot-melt resins, styrene-based elastomer resins, and moisture-curing resins. type hot-melt resins, reaction-type hot-melt resins, and the like. Moisture-curing hot-melt resins are particularly preferred because they have high adhesive strength and allow bonding in a short period of time.

Also, as shown in FIG. 13, the second joining step S120 may be performed after the second moving step S40. In the second moving step S40, the moving part 21 is operated to move the pressing plate 23 in a predetermined direction, stop at the second stop position R2, and then join for a second predetermined distance Q2. When the bonding step S110 and the second bonding step S120 are performed, the elastic material M is fixed and held by the tension applying means 4 so that the force F1 that pulls the elastic material M does not change. is preferred. In this way, by partially joining (a unit length (predetermined distances Q1, Q2) that controls the stretching force or a length shorter than the unit length), the stretchable material M is joined to another material in a stretched state. can be superimposed. Regarding the joining of the unit length, the pressing may be performed in one step or in a plurality of steps, and there is no particular limitation.

Note that only the second bonding step S120 may be performed without performing the bonding step S110. By configuring in this way, the pressing process can be completed at once, and the time can be shortened rather than dividing the process into smaller steps. Here, only the second bonding step S120 is described for the sake of simplicity, but the number of bonding steps is not limited, and may be appropriately set according to the bonding range, and is not limited. Similarly, the bonding step may be performed only once after all the stretch forces in the bonding area have been controlled. Alternatively, the joining range may be divided into arbitrary areas and the joining step may be performed for each area.

As described above, the first fixing step S10 for fixing the stretchable material M at the reference position P1, and the tension applying means 4 are moved in the direction away from the reference position P1 while sliding the surface of the stretchable material M. This includes a first moving step S20 of applying a stretching force to the elastic material M, and in the first moving step S20, the tension applying means 4 measures the force that pulls the elastic material M in the moving direction, and the The extension force of the elastic material M is controlled by controlling the dynamic frictional force when the tension applying means 4 slides on the surface of the elastic material M based on the force.
With this configuration, the stretching force of the stretchable material M can be controlled based on the force F1 with which the tension applying means 4 pulls the fabric in the movement direction, so there is no need for manual fine adjustment. , the stretchable material M can be maintained in a stretched state by applying a constant stretching force.

Moreover, the tension applying means 4 may include a clamping portion 31 that clamps the stretchable material M, and may control the dynamic friction force by controlling the clamping force of the clamping portion 31 .
By configuring in this way, the elastic material M can be pulled while holding the elastic material M between the upper holding plate 32 and the lower holding plate 34 of the holding portion 31. It becomes easy to keep the force F1 that pulls the elastic material M constant.

Further, the holding portion 31 has at least one rotating arm 33D. By rotating the rotating arm 33D, the stretchable material M is pinched. It may be to control force.
With this configuration, fine force control can be performed by rotating the rotating arm 33D with the servomotor 33C, so the force F1 that pulls the stretchable material M can be easily controlled.

Further, after the tension applying means 4 is moved to a predetermined stop position and stopped by the first movement step S20, the pressure portion 22 is positioned within the section from the initial position to the stop position R1 in the first movement step S20. At the second reference position P2, a second fixing step S30 of fixing the elastic material M, and the tension applying means 4 in a direction away from the second reference position P2 while sliding the surface of the elastic material M and a second moving step S40 of applying a stretching force to the stretchable material M by moving the .
With this configuration, in the second fixing step S30, by fixing the stretchable material M to the second reference position P2, the stretching force between the reference position P1 and the second reference position P2 is It can be kept constant, and furthermore, in the second moving step S40, the second predetermined distance Q2 can be moved while applying the stretching force by the tension applying means 4. As shown in FIG. Although the operations of the first and second steps have been described above, from the second step onward, each step is repeated (the third step , 4th step to nth step) the stretching force of the elastic material M can be controlled in any range.

Further, after the operation of the first movement step S20 is completed, the stretchable material M2 is applied at the stop position R1 by the tension applying means 4 moved to the stop position R1 until the second reference position P2 is fixed. Once fixed, in the second moving step S40, after the operation of the second fixing step S30 is completed, the elastic material M is released from the fixing by the tension applying means 4, and then the surface of the elastic material M is slid. , the stretching force may be applied to the stretchable material M by moving the tension applying means in a direction away from the second reference position P2. Thereby, the stretching force of the stretchable material M from the completion of the first moving step S20 to the completion of the second fixing step S30 becomes more stable. Regarding the second fixing step S30, it was explained that the second reference position P2 is fixed by the second fixing means 6, but after the operation of the first moving step S20 is completed, the fixation of the fixing means 3 is released, It may be moved to the second reference position P2 and fixed, and the fixing method at each reference position is not limited. However, after controlling the stretching force of the predetermined section, it is preferable to prevent the stretchable material M from moving so that the stretching force of the predetermined section whose stretching force is controlled does not change.

In addition, a bonding step S110 is further provided in which at least part of the stretchable material M is superimposed on another material placed at a predetermined position, and the stretchable material M is joined to the other material while controlling the stretching force of the stretchable material M. There may be.
By configuring in this way, by joining the stretchable material M part by part, the stretchable material M can be overlapped with another material in a stretched state.

In addition, in the bonding step S110, at least one of the elastic material M and the other material has an adhesive layer formed on the surface facing the other, and a predetermined section in which the elastic material M and the different material are overlapped may be joined by pressing and crimping.
By configuring in this way, since the adhesive layer is provided, it is possible to easily join only the desired portion only by pressing the predetermined section where the elastic material M and another material are superimposed.

1 Extension force control device 2 Table 2a Base surface 3 Fixing means 4 Tension applying means 5 Control means 6 Second fixing means 11 Fixing part 12 Sliding part 12A Air cylinder 21 Moving part 21A Linear motor 22 Pressing part 23 Pressing plate 24 Vertical moving part 24A Servo motor 27 Measuring part 27A Torque meter 31 Holding part 31 Upper holding plate 33 Vertical moving part 33A Servo motor 33B Rotating mechanism 33C Servo motor 33Ca Rotating shaft 33D Rotating arm 34 Lower holding plate 41 Fixed part 42 Slide Moving part 42A Air cylinder

Claims (7)

a first fixing step of fixing the stretchable material in a reference position;
a first moving step of applying a stretching force to the stretchable material by moving the tension applying means in a direction away from the reference position while sliding the surface of the stretchable material;
In the first moving step,
By measuring the force with which the tension applying means pulls the stretchable material in the moving direction and controlling the dynamic friction force when the tension applying means slides on the surface of the stretchable material based on the force,
controlling the stretch force of the stretchable material;
A stretch force control method for an elastic material, characterized by: The tensioning means is
A sandwiching portion that sandwiches the stretchable material is provided,
controlling the dynamic friction force by controlling the holding force by the holding portion;
The stretch force control method for an elastic material according to claim 1, characterized by: The holding portion is
comprising at least one rotating arm;
sandwiching the stretchable material by rotating the rotating arm;
By controlling the rotational torque of the rotating arm, the clamping force by the clamping portion is controlled.
The stretch force control method for an elastic material according to claim 2, characterized in that: After the tension applying means is moved to a predetermined stop position and stopped by the first moving step, the tension applying means is located within the section from the initial position to the stop position of the tension applying means in the first moving step. a second fixing step of fixing the stretchable material in a second reference position;
a second moving step of applying a stretching force to the stretchable material by moving the tension applying means in a direction away from the second reference position while sliding the surface of the stretchable material;
The stretch force control method for a stretchable material according to any one of claims 1 to 3, characterized by: After the operation of the first movement step is completed, the elastic material is temporarily fixed at the stop position by the tension applying means moved to the stop position until the second reference position is fixed. death,
In the second moving step,
After the operation of the second fixing step is completed, the elastic material is unfixed by the tension applying means, and tension is applied in a direction away from the second reference position while sliding the surface of the elastic material. applying a stretching force to the elastic material by moving the applying means;
The stretch force control method for an elastic material according to claim 4, characterized in that: For another material placed in place,
overlapping at least a portion of the stretchable material;
Further comprising a joining step of joining the elastic material to the different material while controlling the stretching force of the elastic material,
The stretch force control method for a stretchable material according to any one of claims 1 to 5, characterized in that: In the joining step,
At least one of the elastic material and the other material has an adhesive layer formed on a surface facing the other,
Joining by pressing and crimping a predetermined section in which the elastic material and the different material are superimposed,
The stretch force control method for an elastic material according to claim 6, characterized in that:

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